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Added odometry nodelets (issue #96)

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matlabbe
2016-07-06 20:08:23 -04:00
parent fb09c96ba1
commit 7a896f6e7b
10 changed files with 851 additions and 670 deletions
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launch/rtabmap.launch
+6 -5
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@@ -2,7 +2,7 @@
<launch>
<!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
<!-- For rgbd:=true
<!-- For stereo:=false
Your RGB-D sensor should be already started with "depth_registration:=true".
Examples:
$ roslaunch freenect_launch freenect.launch depth_registration:=true
@@ -15,7 +15,6 @@
$ roslaunch rtabmap_ros bumblebee.launch -->
<!-- Choose between RGB-D and stereo -->
<arg name="rgbd" default="true"/>
<arg name="stereo" default="false"/>
<!-- Choose visualization -->
@@ -80,7 +79,7 @@
<group ns="$(arg namespace)">
<!-- RGB-D Odometry -->
<group if="$(arg rgbd)">
<group unless="$(arg stereo)">
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
@@ -119,7 +118,8 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
@@ -151,7 +151,8 @@
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>