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ros-pkg: updated demo config files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1137 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-20 20:47:46 +00:00
parent 797c9448da
commit 818c237d75
4 changed files with 23 additions and 222 deletions
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rtabmap/launch/config/appearance_gui.ini
+5 -2
View File
@@ -13,8 +13,8 @@ General\beep=false
General\keypointsOpacity=16
General\voxelSize=0
General\decimation=16
MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\x11\0\0\x1\xf4\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0(\0\0\x1\xf4\0\0\x1\xcc\0\xff\xff\xff\0\0\0\x1\0\0\x3k\0\0\x1\xf4\xfc\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0(\0\0\x1\xf4\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x6 \0\0\0\x9c\xfc\x1\0\0\0\x4\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x6 \0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x5\t\0\0\x1\xf4\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0*\0\0\0\x63\0\0\x6Y\0\0\x3Z\0\0\0\x32\0\0\0\x7f\0\0\x6Q\0\0\x3R\0\0\0\0\0\0)
MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x2\xaf\0\0\x1\xf4\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x1\xf4\0\0\x1\xcc\0\xff\xff\xff\0\0\0\x1\0\0\x5\0\0\0\x1\xf0\xfc\x2\0\0\0\x3\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0(\0\0\x1\xf4\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf7\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0(\0\0\x1\xf0\0\0\0y\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9c\xfc\x1\0\0\0\x6\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x5\0\0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0`\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0O\0\xff\xff\xff\0\0\0\0\0\0\x1\xf0\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\xbd\0\0\0x\0\0\x5\xcc\0\0\x3k\0\0\0\xc5\0\0\0\x94\0\0\x5\xc4\0\0\x3\x63\0\0\0\0\0\0)
General\showClouds0=true
General\voxelSize0=0
General\decimation0=4
@@ -39,3 +39,6 @@ General\decimation2=1
General\maxDepth2=4
General\showScans2=true
General\meshing0=false
General\cloudFiltering=false
General\cloudFilteringRadius=0.5
General\cloudFilteringAngle=30
rtabmap/launch/config/rgbd.rviz
+15 -217
View File
@@ -5,19 +5,9 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- /Grid1
- /PointCloud21
- /TF1/Frames1
- /Marker1/Namespaces1
- /Odometry1
- /PointCloud22
- /PointCloud23
- /Odometry2
- /LaserScan1
- /Map1
- /Map1/Status1
Splitter Ratio: 0.5
Tree Height: 581
Tree Height: 518
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -35,7 +25,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
@@ -91,139 +81,15 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
L_forearm_link:
Value: true
L_frame_tool_link:
Value: true
L_gripper_up_link:
Value: true
L_shoulder_fixed_link:
Value: true
L_shoulder_pan_link:
Value: true
L_shoulder_tilt_link:
Value: true
L_upper_arm_link:
Value: true
R_forearm_link:
Value: true
R_frame_tool_link:
Value: true
R_gripper_up_link:
Value: true
R_shoulder_fixed_link:
Value: true
R_shoulder_pan_link:
Value: true
R_shoulder_tilt_link:
Value: true
R_upper_arm_link:
Value: true
base_footprint:
Value: true
base_laser_link:
Value: true
base_link:
Value: true
head_l_eye_eyebrow_link:
Value: true
head_l_eye_link:
Value: true
head_l_eye_pupil_link:
Value: true
head_link:
Value: true
head_r_eye_eyebrow_link:
Value: true
head_r_eye_link:
Value: true
head_r_eye_pupil_link:
Value: true
map:
Value: true
neck_bracket_link:
Value: true
neck_pan_link:
Value: true
neck_tilt_link:
Value: true
neck_top_frame:
Value: true
odom:
Value: true
openni_base_link:
Value: true
openni_camera_link:
Value: true
openni_depth_frame:
Value: true
openni_depth_optical_frame:
Value: true
openni_rgb_frame:
Value: true
openni_rgb_optical_frame:
Value: true
torso_imu_link:
Value: true
torso_link:
Value: true
torso_stand_link:
Value: true
torso_top_frame:
Value: true
wheelLB_linkWheel_link:
Value: true
wheelLB_wheel_link:
Value: true
wheelLF_linkWheel_link:
Value: true
wheelLF_wheel_link:
Value: true
wheelRB_linkWheel_link:
Value: true
wheelRB_wheel_link:
Value: true
wheelRF_linkWheel_link:
Value: true
wheelRF_wheel_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
{}
{}
Update Interval: 0
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: visualization_marker
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /visualization_marker_wheels
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: true
- Angle Tolerance: 0
Class: rviz/Odometry
Color: 255; 25; 0
Enabled: true
Keep: 1
Length: 1
Name: Odometry
Position Tolerance: 0
Topic: /odom
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -256,76 +122,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 4.00237
Min Value: 0.462084
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /assembled_scans
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.1283
Min Value: -0.00552607
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic: /cloud2
Use Fixed Frame: true
Use rainbow: true
Value: false
- Angle Tolerance: 0.01
Class: rviz/Odometry
Color: 255; 25; 0
Enabled: true
Keep: 1
Length: 1
Name: Odometry
Position Tolerance: 0.01
Topic: /odom_slam
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 1.97636
Min Value: -11.138
Max Value: 9.61762
Min Value: -10.4251
Value: true
Axis: X
Channel Name: intensity
@@ -378,14 +176,14 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 16.0582
Distance: 6.3839
Focal Point:
X: -0.102899
Y: 0.0127649
Z: 0.650117
X: 1.21633
Y: 0.709636
Z: -0.00735356
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.6598
Pitch: 0.5598
Target Frame: base_link
Value: Orbit (rviz)
Yaw: 3.58419
@@ -393,10 +191,10 @@ Visualization Manager:
Window Geometry:
Displays:
collapsed: false
Height: 754
Height: 691
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000136000002d4fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002d4000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000035a000002d400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000013600000295fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000295000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003bd0000029500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -405,6 +203,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1174
X: 42
Y: 88
Width: 1273
X: 212
Y: 201
rtabmap/launch/config/rgbd_gui.ini
+2 -2
View File
@@ -13,8 +13,8 @@ General\beep=false
General\keypointsOpacity=16
General\voxelSize=0
General\decimation=16
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rtabmap/launch/demo/demo_appearance_localization.launch
+1 -1
View File
@@ -16,7 +16,7 @@
<param name="RGBD/Enabled" type="string" value="false"/> <!-- False: appearance-based -->
<param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
<param name="Rtabmap/ImageBufferSize" type="string" value="0"/> <!-- process all images -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <!-- Don't need to do fast detection on localization -->
<param name="Rtabmap/DetectionRate" type="string" value="0"/> <!-- Go as fast as the camera rate (here 2 Hz, see below) -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="Mem/BadSignaturesIgnored" type="string" value="true"/>