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ros-pkg: working navigation with stereo camera only and obstacles avoidance (az3_mapping_stereo_nav.launch)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1924 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-24 21:50:05 +00:00
parent 9e0b143429
commit 858d6fd6cb
5 changed files with 54 additions and 10 deletions
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launch/azimut3/az3_mapping_robot_stereo_nav.launch
+13 -2
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@@ -62,7 +62,7 @@
<node pkg="tf" type="static_transform_publisher" name="stereo_camera_base_link"
args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_stereo_camera_base_link"
args="0.01 0.06 0.90 0 0.2 0 base_link stereo_camera_base 100" />
args="0.01 0.06 0.90 0 0.45 0 base_link stereo_camera_base 100" />
<!-- Run the ROS package stereo_image_proc for image rectification-->
<group ns="/stereo_camera" >
@@ -84,17 +84,28 @@
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
<param name="disparity_range" value="128"/>
</node>
<!-- Create point cloud for the planner -->
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap/point_cloud_xyz stereo_nodelet">
<remap from="disparity/image" to="disparity"/>
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
<remap from="cloud" to="/planner_cloud"/>
<remap from="cloud" to="cloudXYZ"/>
<param name="voxel_size" type="double" value="0.05"/>
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="4"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap/obstacles_detection stereo_nodelet">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles_2d" to="/planner_cloud"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.0"/>
</node>
</group>
<!-- Visual Odometry -->