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LIO-SAM datasets launch file example
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matlabbe
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<?xml version="1.0"?>
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<!-- -->
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<launch>
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<!--
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Hand-held 3D lidar mapping example with IMU.
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Prerequisities: rtabmap should be built with libpointmatcher
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Example:
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$ roslaunch rtabmap_examples liosam_datasets.launch
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$ rosbag play -.-clock campus_large_dataset.bag (remove '.' in "-.-clock")
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-->
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<arg name="rtabmap_viz" default="true"/>
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<arg name="scan_20_hz" default="false"/>
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<arg name="slerp" default="false"/> <!-- If true, a slerp between the first and last time will be used to deskew each point, which is faster than using tf for every point but less accurate -->
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<arg name="scan_topic" default="/points_raw"/>
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<param name="use_sim_time" value="true"/>
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<arg name="imu_topic" default="/imu_correct"/>
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<arg name="frame_id" default="base_link"/>
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<arg name="queue_size" default="10"/>
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<arg name="queue_size_odom" default="1"/>
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<arg name="loop_ratio" default="0.2"/>
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<arg name="resolution" default="0.5"/> <!-- set 0.05-0.3 for indoor, set 0.3-0.5 for outdoor -->
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<arg name="iterations" default="10"/>
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<!-- Grid parameters -->
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<arg name="ground_is_obstacle" default="true"/>
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<arg name="grid_max_range" default="20"/>
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<!-- For F2M Odometry -->
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<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (ground robot, car) -->
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<arg name="local_map_size" default="15000"/>
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<arg name="key_frame_thr" default="0.4"/>
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<!-- For FLOAM Odometry -->
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<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
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<arg name="floam_sensor" default="0"/> <!-- 0=16 rings (VLP16), 1=32 rings, 2=64 rings -->
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<!-- For LIOSAM Odometry -->
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<arg name="liosam" default="false"/> <!-- RTAB-Map should be built with LIOSAM https://github.com/introlab/rtabmap/pull/1684 -->
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<arg name="liosam_horizon_scan" default="1800"/> <!-- Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048). -->
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<arg name="liosam_n_scan" default="16"/> <!-- Number of LiDAR channels (16, 32, 64, 128). -->
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<arg name="liosam_sensor" default="0"/> <!-- LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox. -->
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<arg if="$(arg liosam)" name="deskewing" default="false"/> <!-- deskewing will be done by liosam -->
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<arg unless="$(arg liosam)" name="deskewing" default="true"/>
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<!-- Static transform between base_link (IMU) and lidar -->
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<node pkg="tf" type="static_transform_publisher" name="imu_to_lidar_tf" args="0 0 0 0 0 0 base_link velodyne 100"/>
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<!-- IMU orientation estimation and publish tf accordingly -->
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<node unless="$(arg liosam)" pkg="rtabmap_util" type="imu_to_tf" name="imu_to_tf">
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<remap from="imu/data" to="$(arg imu_topic)"/>
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<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
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<param name="base_frame_id" value="$(arg frame_id)"/>
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</node>
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<!-- Lidar Deskewing -->
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<node if="$(arg deskewing)" pkg="nodelet" type="nodelet" name="lidar_deskewing" args="standalone rtabmap_util/lidar_deskewing" output="screen">
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<param name="wait_for_transform" value="0.2"/>
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<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
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<param name="slerp" value="$(arg slerp)"/>
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<remap from="input_cloud" to="$(arg scan_topic)"/>
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</node>
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<arg if="$(arg deskewing)" name="scan_topic_deskewed" default="$(arg scan_topic)/deskewed"/>
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<arg unless="$(arg deskewing)" name="scan_topic_deskewed" default="$(arg scan_topic)"/>
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<group ns="rtabmap">
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<node pkg="rtabmap_odom" type="icp_odometry" name="icp_odometry" output="screen" args="--udebug">
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<remap from="scan_cloud" to="$(arg scan_topic_deskewed)"/>
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<remap from="imu" to="$(arg imu_topic)"/>
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<param unless="$(arg liosam)" name="guess_frame_id" type="string" value="$(arg frame_id)_stabilized"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="odom_frame_id" type="string" value="odom"/>
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<param name="topic_queue_size" type="int" value="$(arg queue_size_odom)"/>
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<param name="wait_imu_to_init" type="bool" value="true"/>
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<param name="wait_for_transform_duration" type="double" value="0.2"/>
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<param if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
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<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
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<!-- ICP parameters -->
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<param name="Icp/PointToPlane" type="string" value="true"/>
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<param name="Icp/Iterations" type="string" value="$(arg iterations)"/>
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<param if="$(eval floam or liosam)" name="Icp/VoxelSize" type="string" value="0"/>
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<param unless="$(eval floam or liosam)" name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
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<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
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<param name="Icp/Epsilon" type="string" value="0.001"/>
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<param if="$(eval floam or liosam)" name="Icp/PointToPlaneK" type="string" value="0"/>
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<param unless="$(eval floam or liosam)" name="Icp/PointToPlaneK" type="string" value="20"/>
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<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
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<param name="Icp/MaxTranslation" type="string" value="2"/>
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<param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*10)"/>
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<param name="Icp/Strategy" type="string" value="1"/>
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<param name="Icp/OutlierRatio" type="string" value="0.7"/>
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<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
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<param if="$(arg ground_normals_up)" name="Icp/PointToPlaneGroundNormalsUp" type="string" value="0.8"/>
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<!-- Odom parameters -->
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<param if="$(arg floam)" name="Odom/Strategy" type="string" value="11"/>
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<param if="$(arg liosam)" name="Odom/Strategy" type="string" value="14"/>
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<!-- F2M params -->
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<param name="Odom/ScanKeyFrameThr" type="string" value="$(arg key_frame_thr)"/>
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<param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg resolution)"/>
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<param name="OdomF2M/ScanMaxSize" type="string" value="$(arg local_map_size)"/>
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<!-- LOAM params-->
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<param name="OdomLOAM/Sensor" type="string" value="$(arg floam_sensor)"/>
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<param name="OdomLOAM/Resolution" type="string" value="$(arg resolution)"/>
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<param if="$(eval not deskewing and scan_20_hz)" name="OdomLOAM/ScanPeriod" type="string" value="0.05"/>
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<param if="$(eval not deskewing and not scan_20_hz)" name="OdomLOAM/ScanPeriod" type="string" value="0.1"/>
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<param if="$(arg deskewing)" name="OdomLOAM/ScanPeriod" type="string" value="0"/>
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<!-- LIOSAM params-->
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<param name="OdomLIOSAM/Sensor" type="string" value="$(arg liosam_sensor)"/>
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<param name="OdomLIOSAM/NScan" type="string" value="$(arg liosam_n_scan)"/>
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<param name="OdomLIOSAM/HorizonScan" type="string" value="$(arg liosam_horizon_scan)"/>
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</node>
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<node pkg="rtabmap_slam" type="rtabmap" name="rtabmap" output="screen" args="-d">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgb" type="bool" value="false"/>
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<param name="subscribe_scan_cloud" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="true"/>
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<param name="wait_for_transform_duration" type="double" value="0.2"/>
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<remap from="scan_cloud" to="assembled_cloud"/>
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<remap from="imu" to="$(arg imu_topic)"/>
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<!-- RTAB-Map's parameters -->
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
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<param name="RGBD/ProximityBySpace" type="string" value="true"/>
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<param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/>
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<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
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<param name="RGBD/AngularUpdate" type="string" value="0.05"/>
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<param name="RGBD/LinearUpdate" type="string" value="0.05"/>
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<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
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<param name="Mem/STMSize" type="string" value="30"/>
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<param name="Mem/LaserScanNormalK" type="string" value="20"/>
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<param name="Reg/Strategy" type="string" value="1"/>
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<param name="Grid/Sensor" type="string" value="0"/>
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<param name="Grid/CellSize" type="string" value="$(arg resolution)"/>
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<param name="Grid/RangeMax" type="string" value="$(arg grid_max_range)"/>
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<param name="Grid/ClusterRadius" type="string" value="1"/>
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<param name="Grid/GroundIsObstacle" type="string" value="$(arg ground_is_obstacle)"/>
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<param name="Optimizer/GravitySigma" type="string" value="0.3"/>
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<!-- ICP parameters -->
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<param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
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<param name="Icp/PointToPlaneK" type="string" value="20"/>
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<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
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<param name="Icp/PointToPlane" type="string" value="true"/>
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<param name="Icp/Iterations" type="string" value="$(arg iterations)"/>
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<param name="Icp/Epsilon" type="string" value="0.001"/>
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<param name="Icp/MaxTranslation" type="string" value="3"/>
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<param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*10)"/>
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<param name="Icp/Strategy" type="string" value="1"/>
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<param name="Icp/OutlierRatio" type="string" value="0.7"/>
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<param name="Icp/CorrespondenceRatio" type="string" value="$(arg loop_ratio)"/>
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</node>
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<node if="$(arg rtabmap_viz)" name="rtabmap_viz" pkg="rtabmap_viz" type="rtabmap_viz" output="screen">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="odom_frame_id" type="string" value="odom"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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<param name="subscribe_scan_cloud" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<remap from="scan_cloud" to="odom_filtered_input_scan"/>
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<remap from="odom_info" to="odom_info"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="point_cloud_assembler" args="standalone rtabmap_util/point_cloud_assembler" output="screen">
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<remap if="$(arg liosam)" from="cloud" to="odom_filtered_input_scan"/>
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<remap unless="$(arg liosam)" from="cloud" to="$(arg scan_topic_deskewed)"/>
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<remap from="odom" to="odom"/>
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<param if="$(arg scan_20_hz)" name="max_clouds" type="int" value="20" />
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<param unless="$(arg scan_20_hz)" name="max_clouds" type="int" value="10" />
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<param name="fixed_frame_id" type="string" value="" />
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<param name="sync_queue_size" type="int" value="$(arg queue_size)" />
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</node>
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</group>
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</launch>
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