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updated rtabmap.launch to be able to do lidar-only slam

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This commit is contained in:
matlabbe
2020-02-20 16:05:09 -05:00
parent 231418e098
commit 8a3af1d14f
2 changed files with 21 additions and 9 deletions
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launch/rtabmap.launch
+16 -9
View File
@@ -14,8 +14,10 @@
Example:
$ roslaunch rtabmap_ros bumblebee.launch -->
<!-- Choose between RGB-D and stereo -->
<arg name="stereo" default="false"/>
<!-- Choose between depth and stereo, set both to false to do only scan -->
<arg name="stereo" default="false"/>
<arg if="$(arg stereo)" name="depth" default="false"/>
<arg unless="$(arg stereo)" name="depth" default="true"/>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="true" />
@@ -80,7 +82,8 @@
<arg name="scan_topic" default="/scan"/>
<arg name="subscribe_scan_cloud" default="false"/>
<arg name="scan_cloud_topic" default="/scan_cloud"/>
<arg name="scan_normal_k" default="0"/>
<arg name="scan_cloud_max_points" default="0"/>
<arg name="scan_cloud_filtered" default="false"/> <!-- use filtered cloud from icp_odometry for mapping -->
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="icp_odometry" default="false"/> <!-- Launch rtabmap icp odometry node -->
@@ -123,7 +126,7 @@
<group ns="$(arg namespace)">
<!-- relays -->
<group unless="$(arg stereo)">
<group if="$(arg depth)">
<group unless="$(arg subscribe_rgbd)">
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
@@ -249,13 +252,15 @@
<param name="guess_frame_id" type="string" value="$(arg odom_guess_frame_id)"/>
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
</node>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgb" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
@@ -277,7 +282,7 @@
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="scan_normal_k" type="int" value="$(arg scan_normal_k)"/>
<param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
<param name="landmark_linear_variance" type="double" value="$(arg tag_linear_variance)"/>
<param name="landmark_angular_variance" type="double" value="$(arg tag_angular_variance)"/>
@@ -293,7 +298,8 @@
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap if="$(arg scan_cloud_filtered)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg scan_cloud_filtered)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="user_data" to="$(arg user_data_topic)"/>
<remap from="user_data_async" to="$(arg user_data_async_topic)"/>
<remap from="gps/fix" to="$(arg gps_topic)"/>
@@ -310,7 +316,7 @@
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
@@ -335,7 +341,8 @@
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap if="$(arg scan_cloud_filtered)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg scan_cloud_filtered)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>
src/OdometryROS.cpp
+5
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@@ -204,6 +204,7 @@ void OdometryROS::onInit()
//parameters
ROS_INFO("Odometry: stereoParams_=%d visParams_=%d icpParams_=%d", stereoParams_?1:0, visParams_?1:0, icpParams_?1:0);
parameters_ = Parameters::getDefaultOdometryParameters(stereoParams_, visParams_, icpParams_);
if(icpParams_)
{
@@ -289,6 +290,10 @@ void OdometryROS::onInit()
NODELET_INFO( "Update odometry parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
jter->second = iter->second;
}
else
{
NODELET_INFO( "Odometry: Ignored parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
}
}
// Backward compatibility