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updated azimut3 navigation launch with rtabmap's planner

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This commit is contained in:
Mathieu Labbe
2015-02-03 14:23:32 -05:00
parent 0b67fe4e3b
commit 85268d5d42
4 changed files with 86 additions and 64 deletions
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launch/azimut3/az3_mapping_client_nav.launch
+1 -1
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@@ -3,7 +3,7 @@
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use --> <!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
<!-- a relay on this machine, same for images --> <!-- a relay on this machine, same for images -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/> <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/> <node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" /> <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" /> <node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
launch/azimut3/az3_mapping_client_nav.launch~
+23
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@@ -0,0 +1,23 @@
<launch>
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
<!-- a relay on this machine, same for images -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
</launch>
launch/azimut3/az3_mapping_robot_nav.launch
+39 -42
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@@ -75,50 +75,52 @@
<!-- args: "delete_db_on_start" and "udebug" --> <!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap"> <group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/> <param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/> <remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/> <remap from="scan" to="/base_scan"/>
<remap from="mapData" to="mapData"/> <remap from="mapData" to="mapData"/>
<remap from="rgb/image" to="/camera/data_throttled_image"/> <remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/> <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/> <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<param name="queue_size" type="int" value="10"/> <remap from="goal_pose" to="/planner_goal"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. --> <param name="queue_size" type="int" value="10"/>
<param name="RGBD/ScanMatchingSize" type="string" value="1"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="LccIcp2/Iterations" type="string" value="100"/> <param name="RGBD/PoseScanMatching" type="string" value="true"/>
<param name="LccIcp2/VoxelSize" type="string" value="0"/> <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving --> <param name="LccIcp/Type" type="string" value="2"/>
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving --> <param name="LccIcp2/Iterations" type="string" value="100"/>
<param name="LccIcp2/VoxelSize" type="string" value="0"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/> <param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="Mem/RehearsedNodesKept" type="string" value="false"/> <param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="RGBD/ToroIterations" type="string" value="0"/> <param name="RGBD/ToroIterations" type="string" value="100"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/> <param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/WordsPerImage" type="string" value="200"/> <param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/> <param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Kp/NNStrategy" type="string" value="1"/> <param name="Kp/NNStrategy" type="string" value="1"/>
<param name="Bayes/FullPredictionUpdate" type="string" value="false"/> <param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
<param name="SURF/HessianThreshold" type="string" value="1000"/> <param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="LccBow/MaxDepth" type="string" value="4"/> <param name="LccBow/MaxDepth" type="string" value="4"/>
<param name="LccBow/MinInliers" type="string" value="10"/> <param name="LccBow/MinInliers" type="string" value="10"/>
@@ -126,21 +128,16 @@
<param name="LccReextract/Activated" type="string" value="true"/> <param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/FeatureType" type="string" value="4"/> <param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/MaxWords" type="string" value="400"/> <param name="LccReextract/MaxWords" type="string" value="400"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/> <param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/> <param name="LccReextract/NNType" type="string" value="3"/>
<!-- Disable graph optimization because we use map_optimizer node below -->
<param name="RGBD/ToroIterations" type="string" value="0"/>
</node> </node>
<!-- to always have the global map optimized -->
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
<!-- Grid map assembler for planner -->
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="grid_map" to="/map"/>
</node>
</group> </group>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData_optimized"/>
<remap from="grid_map" to="map"/>
</node>
</launch> </launch>
launch/azimut3/config/azimut3_nav.rviz
+22 -20
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@@ -6,6 +6,8 @@ Panels:
Expanded: Expanded:
- /Global Options1 - /Global Options1
- /TF1/Frames1 - /TF1/Frames1
- /Info1/Status1
- /MapGraph1
Splitter Ratio: 0.601881 Splitter Ratio: 0.601881
Tree Height: 337 Tree Height: 337
- Class: rviz/Selection - Class: rviz/Selection
@@ -20,7 +22,7 @@ Panels:
Experimental: false Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: PointCloud2 SyncSource: Image
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
Expanded: Expanded:
- /2D Pose Estimate1 - /2D Pose Estimate1
@@ -125,8 +127,8 @@ Visualization Manager:
- Alpha: 1 - Alpha: 1
Autocompute Intensity Bounds: true Autocompute Intensity Bounds: true
Autocompute Value Bounds: Autocompute Value Bounds:
Max Value: -0.904062 Max Value: 5.19727
Min Value: -2.17531 Min Value: -0.547517
Value: true Value: true
Axis: X Axis: X
Channel Name: intensity Channel Name: intensity
@@ -326,13 +328,6 @@ Visualization Manager:
Name: Path Name: Path
Topic: /planner/move_base/TrajectoryPlannerROS/local_plan Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
Value: true Value: true
- Alpha: 1
class: rtabmap_ros/MapGraph
Color: 0; 0; 255
Enabled: true
Name: MapGraph
Topic: /rtabmap/mapData_relay
Value: true
- Alpha: 1 - Alpha: 1
Autocompute Intensity Bounds: true Autocompute Intensity Bounds: true
Autocompute Value Bounds: Autocompute Value Bounds:
@@ -345,7 +340,7 @@ Visualization Manager:
Color: 85; 255; 0 Color: 85; 255; 0
Color Transformer: RGB8 Color Transformer: RGB8
Decay Time: 0 Decay Time: 0
Enabled: true Enabled: false
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 4096 Max Intensity: 4096
@@ -361,6 +356,13 @@ Visualization Manager:
Topic: /voxel_cloud Topic: /voxel_cloud
Use Fixed Frame: true Use Fixed Frame: true
Use rainbow: true Use rainbow: true
Value: false
- Alpha: 1
Class: rtabmap_ros/MapGraph
Color: 255; 0; 0
Enabled: true
Name: MapGraph
Topic: /rtabmap/mapData_relay
Value: true Value: true
Enabled: true Enabled: true
Global Options: Global Options:
@@ -381,23 +383,23 @@ Visualization Manager:
Value: true Value: true
Views: Views:
Current: Current:
class: rtabmap_ros/OrbitOriented Class: rviz/Orbit
Distance: 25.5693 Distance: 14.3083
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.06 Stereo Eye Separation: 0.06
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 1.29372 X: 1.91382
Y: -0.0308032 Y: -0.564774
Z: -0.622506 Z: 0.661231
Name: Current View Name: Current View
Near Clip Distance: 0.01 Near Clip Distance: 0.01
Pitch: 1.3098 Pitch: 1.4054
Target Frame: base_footprint Target Frame: <Fixed Frame>
Value: OrbitOriented (rtabmap) Value: Orbit (rviz)
Yaw: 3.11245 Yaw: 3.1704
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays: