mirror of
https://github.com/introlab/rtabmap_ros.git
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ros-pkg: First draft of demo_stereo_outdoor.launch (see wiki [StereoOutdoorDemo])
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1987 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
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<launch>
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<!--
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from bag: rosbag record /stereo_camera/left/image_raw_throttle/compressed /stereo_camera/right/image_raw_throttle/compressed /stereo_camera/left/camera_info_throttle /stereo_camera/right/camera_info_throttle /tf
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-->
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<param name="use_sim_time" type="bool" value="True"/>
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<node name="republish_left" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
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<node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />
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<!-- Run the ROS package stereo_image_proc for image rectification-->
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<group ns="/stereo_camera" >
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<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
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<remap from="left/image_raw" to="left/image_raw_throttle_relay"/>
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<remap from="left/camera_info" to="left/camera_info_throttle"/>
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<remap from="right/image_raw" to="right/image_raw_throttle_relay"/>
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<remap from="right/camera_info" to="right/camera_info_throttle"/>
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<param name="disparity_range" value="128"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap/point_cloud_xyz stereo_nodelet">
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<remap from="disparity/image" to="disparity"/>
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<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
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<remap from="cloud" to="cloudXYZ"/>
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<param name="voxel_size" type="double" value="0.05"/>
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<param name="decimation" type="int" value="4"/>
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<param name="max_depth" type="double" value="4"/>
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</node>
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</group>
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<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
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<!--
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<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
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<remap from="stereo" to="/stereo_camera"/>
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<remap from="image" to="image_rect"/>
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<param name="base_link_frame_id" value="base_footprint"/>
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<param name="odom_frame_id" value="odom"/>
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<param name="ref_frame_change_method" value="1"/>
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<param name="queue_size" value="30"/>
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</node>
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<node name="camInfoL" type="relay" pkg="topic_tools" args="/stereo_camera/left/camera_info_throttle /stereo_camera/left/camera_info"/>
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<node name="camInfoR" type="relay" pkg="topic_tools" args="/stereo_camera/right/camera_info_throttle /stereo_camera/right/camera_info"/>
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-->
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<!--
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<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
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<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
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<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
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<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info_throttle" />
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<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info_throttle" />
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<remap from="odometry" to="stereo_odometer/odometry" />
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</node>
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-->
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<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
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<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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<remap from="odom_local_map" to="/odom_local_map"/>
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<remap from="odom_last_frame" to="/odom_last_frame"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="odom_frame_id" type="string" value="odom"/>
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<param name="approx_sync" type="bool" value="false"/>
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<param name="queue_size" type="int" value="5"/>
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<param name="Odom/Strategy" type="string" value="0"/>
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<param name="Odom/FeatureType" type="string" value="6"/>
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<param name="Odom/InlierDistance" type="string" value="0.1"/>
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<param name="Odom/MinInliers" type="string" value="10"/>
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<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="Odom/MaxFeatures" type="string" value="0"/>
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<param name="Odom/MaxDepth" type="string" value="10"/>
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<param name="Odom/FeaturesRatio" type="string" value="0"/>
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<param name="Odom/Iterations" type="string" value="30"/>
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<param name="Odom/RefineIterations" type="string" value="5"/>
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<param name="GFTT/MaxCorners" type="string" value="500"/>
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<param name="GFTT/MinDistance" type="string" value="5"/>
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<param name="OdomBow/LocalHistorySize" type="string" value="1000"/>
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<param name="OdomBow/NNDR" type="string" value="0.8"/>
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<param name="OdomFlow/WinSize" type="string" value="16"/>
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<param name="OdomFlow/MaxLevel" type="string" value="3"/>
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<param name="OdomFlow/Iterations" type="string" value="30"/>
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<param name="OdomFlow/Eps" type="string" value="0.01"/>
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<param name="OdomSubPix/Iterations" type="string" value="20"/>
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<param name="OdomSubPix/WinSize" type="string" value="0"/>
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<param name="OdomSubPix/Eps" type="string" value="0.02"/>
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</node>
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<group ns="rtabmap">
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<!-- Visual SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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<remap from="mapData" to="mapData_notOptimized"/>
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<param name="queue_size" type="int" value="30"/>
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<!-- RTAB-Map's parameters -->
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="RGBD/ToroIterations" type="string" value="0"/> <!-- Disable graph optimization because we use map_optimizer node below -->
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<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
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<param name="Kp/DetectorStrategy" type="string" value="0"/>
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<param name="Kp/WordsPerImage" type="string" value="200"/>
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<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="Kp/NNStrategy" type="string" value="1"/>
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<param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
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<param name="SURF/HessianThreshold" type="string" value="1000"/>
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<param name="LccBow/MaxDepth" type="string" value="3"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.02"/>
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<param name="LccReextract/Activated" type="string" value="true"/>
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<param name="LccReextract/FeatureType" type="string" value="4"/>
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<param name="LccReextract/MaxWords" type="string" value="400"/>
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<param name="LccReextract/NNDR" type="string" value="0.8"/>
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<param name="LccReextract/NNType" type="string" value="3"/>
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</node>
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer">
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<remap from="mapData" to="mapData_notOptimized"/>
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<remap from="mapData_notOptimized_optimized" to="mapData"/>
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</node>
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<node pkg="rtabmap" type="map_assembler" name="map_assembler">
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<param name="occupancy_grid" type="bool" value="true"/>
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<remap from="grid_projection_map" to="/map"/>
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</node>
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</group>
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<!-- RVIZ -->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_nav.rviz"/>
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<!-- RTABMAP GUI -->
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<!--
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<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_laserScan" type="bool" value="false"/>
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<param name="queue_size" type="int" value="30"/>
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<remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
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<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="depth/image" to="/odom_depth"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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</node>
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-->
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</launch>
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