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Added database_path argument to rgbd/stereo launch files (changed --delete_db_on_start by rtabmap_args argument)

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matlabbe
2015-07-26 16:52:52 -04:00
parent 290ea88761
commit 85b92b913a
2 changed files with 9 additions and 4 deletions
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launch/rgbd_mapping.launch
+4 -2
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@@ -12,6 +12,8 @@
<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="time_threshold" default="0"/> <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
<arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" />
@@ -56,12 +58,12 @@
</node>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<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="$(arg rtabmap_args)">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="database_path" type="string" value="$(arg database_path)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_registered_topic)"/>
launch/stereo_mapping.launch
+5 -2
View File
@@ -12,7 +12,9 @@
<arg name="frame_id" default="base_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="time_threshold" default="0"/> <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
<arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="left_image_topic" default="/stereo_camera/left/image_rect_color" />
<arg name="right_image_topic" default="/stereo_camera/right/image_rect" /> <!-- using grayscale image for efficiency -->
<arg name="left_camera_info_topic" default="/stereo_camera/left/camera_info" />
@@ -60,12 +62,13 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="database_path" type="string" value="$(arg database_path)"/>
<remap from="left/image_rect" to="$(arg left_image_topic)"/>
<remap from="right/image_rect" to="$(arg right_image_topic)"/>