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Updated az3_mapping_robot_kinect_scan.launch (fixed openni rate)

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matlabbe
2015-11-06 16:12:28 -05:00
parent 1cba7053d0
commit 80addaf926
5 changed files with 20 additions and 18 deletions
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launch/azimut3/az3_mapping_robot_kinect_scan.launch
+11 -8
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@@ -2,7 +2,7 @@
<launch>
<arg name="rtabmap_args" default="" />
<arg name="localization_mode" default="false" />
<arg name="localization" default="false" />
<!-- AZIMUT 3 bringup: launch motors/odometry -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
@@ -28,8 +28,9 @@
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters -->
<param unless="$(arg localization_mode)" name="Rtabmap/TimeThr" type="string" value="400"/>
<param if="$(arg localization_mode)" name="Memory/Incremental" type="string" value="false"/>
<param unless="$(arg localization)" name="Rtabmap/TimeThr" type="string" value="500"/>
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param if="$(arg localization)" name="Mem/InitWMWithAllNodes" type="string" value="true"/>
<param name="RGBD/PoseScanMatching" type="string" value="true"/>
<param name="RGBD/LocalRadius" type="string" value="4"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
@@ -39,7 +40,8 @@
<param name="RGBD/OptimizeVarianceIgnored" type="string" value="false"/>
<param name="RGBD/PlanAngularVelocity" type="string" value="1.0"/> <!-- preference for path traversed forward -->
<param name="LccBow/Force2D" type="string" value="true"/>
<param name="LccIcp/Type" type="string" value="2"/>
<param name="LccIcp/Type" type="string" value="2"/>
<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.2"/>
</node>
</group>
@@ -53,7 +55,7 @@
<!-- ROS navigation stack move_base -->
<group ns="planner">
<remap from="base_scan" to="/kinect_scan"/>
<remap from="scan" to="/kinect_scan"/>
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
<remap from="ground_cloud" to="/ground_cloud"/>
<remap from="map" to="/map"/>
@@ -83,7 +85,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<param name="rate" type="double" value="5"/>
<param name="rate" type="double" value="3"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
@@ -95,7 +97,8 @@
</node>
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="obstacle_nodelet_manager" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz obstacle_nodelet_manager">
<remap from="depth/image" to="throttled_image_depth"/>
<remap from="depth/camera_info" to="throttled_camera_info"/>
<remap from="cloud" to="cloudXYZ" />
@@ -104,7 +107,7 @@
<param name="voxel_size" type="double" value="0.02"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection obstacle_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>