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azimut3: increased bandwidth efficiency for teleoperation, set teleop node on client

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1546 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-11 22:37:09 +00:00
parent 0bd7f67bd2
commit 88be959268
5 changed files with 54 additions and 44 deletions
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launch/azimut3/az3_mapping_client.launch
+2 -2
View File
@@ -4,8 +4,8 @@
<!-- Visualisation (client side) -->
<group ns="rtabmap">
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
launch/azimut3/az3_mapping_client_rviz.launch
+17 -7
View File
@@ -1,14 +1,24 @@
<launch>
<group ns="rtabmap">
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
</group>
<!-- Remote teleop -->
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
<!-- a relay on this machine -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay" >
<param name="lazy" type="bool" value="false"/>
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData_relay"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwith efficiency -->
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz)
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="/camera/data_throttled_image"/>
@@ -35,5 +45,5 @@
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
-->
</launch>
launch/azimut3/az3_mapping_robot.launch
+1 -1
View File
@@ -3,7 +3,7 @@
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<!-- Xtion -->
launch/azimut3/az3_mapping_robot_kinect_odom.launch
+1 -1
View File
@@ -3,7 +3,7 @@
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<!-- Xtion -->
launch/config/azimut3.rviz
+33 -33
View File
@@ -6,10 +6,8 @@ Panels:
Expanded:
- /Global Options1
- /TF1/Frames1
- /RobotModel1/Links1
- /Image1
Splitter Ratio: 0.5
Tree Height: 488
Tree Height: 527
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -47,7 +45,7 @@ Visualization Manager:
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: odom
Reference Frame: map
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
@@ -61,7 +59,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 2.34177e-38
@@ -77,7 +75,7 @@ Visualization Manager:
Topic: /voxel_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
Value: false
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
@@ -155,8 +153,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 8.01365
Min Value: 3.78738
Max Value: -0.64594
Min Value: -3.31707
Value: true
Axis: X
Channel Name: intensity
@@ -174,9 +172,9 @@ Visualization Manager:
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (Pixels): 5
Size (m): 0.01
Style: Flat Squares
Style: Points
Topic: /base_scan
Use Fixed Frame: false
Use rainbow: true
@@ -187,7 +185,7 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: Map
Topic: /rtabmap/grid_map
Topic: /grid_map
Value: true
- Alpha: 1
Class: rviz/RobotModel
@@ -260,6 +258,17 @@ Visualization Manager:
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/Image
Enabled: true
Image Topic: /camera/data_throttled_image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: theora
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -270,7 +279,7 @@ Visualization Manager:
Channel Name: intensity
Class: rtabmap/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud max depth (m): 3
Cloud voxel size (m): 0.02
Color: 255; 255; 255
Color Transformer: RGB8
@@ -282,25 +291,16 @@ Visualization Manager:
Min Color: 0; 0; 0
Min Intensity: 0
Name: MapCloud
Node filtering angle (degrees): 30
Node filtering radius (m): 0.2
Position Transformer: XYZ
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /rtabmap/mapData
Topic: /rtabmap/mapData_relay
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /camera/rgb/image_rect_color
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: compressed
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -321,22 +321,22 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 9.95894
Distance: 14.6712
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.144802
Y: -0.426294
Z: 0.661891
X: -1.17324
Y: -1.75501
Z: 0.714409
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.6548
Pitch: 1.0448
Target Frame: base_link
Value: Orbit (rviz)
Yaw: 3.05919
Yaw: 0.872834
Saved: ~
Window Geometry:
Displays:
@@ -346,7 +346,7 @@ Window Geometry:
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000013600000377fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000277000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000fb0000000a0049006d006100670065010000027d000000fa0000001600ffffff000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004dd0000037700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000013600000377fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000000000029e000000dd00fffffffb0000000a0049006d00610067006501000002a4000000d30000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004dd0000037700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -356,5 +356,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1561
X: 101
Y: 202
X: 65
Y: 98