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updated test_velodyne.launch

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matlabbe
2019-03-20 20:30:38 -04:00
parent 985ac592fb
commit 8d84cfd1bf
1 changed files with 18 additions and 11 deletions
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launch/tests/test_velodyne.launch
+16 -9
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@@ -13,16 +13,23 @@
<arg name="rtabmapviz" default="true"/>
<arg name="use_imu" default="false"/> <!-- Assuming IMU fixed to lidar and the top of the lidar always points to the ceiling -->
<arg name="scan_20_hz" default="false"/> <!-- If you launch the velodyne with "rpm:=1200" argument -->
<arg name="imu_topic" default="/data/imu"/>
<arg name="scan_20_hz" default="false"/> <!-- If we launch the velodyne with "rpm:=1200" argument -->
<arg name="use_sim_time" default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
<arg name="frame_id" default="velodyne"/>
<node if="$(arg use_imu)" pkg="hector_imu_attitude_to_tf" type="imu_attitude_to_tf_node" name="imu_attitude_to_tf_node" output="screen">
<remap from="imu_topic" to="/imu/data" />
<param name="base_stabilized_frame" type="string" value="base_stabilized" />
<param name="base_frame" type="string" value="velodyne" />
<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
<arg if="$(arg scan_20_hz)" name="rpm" value="1200"/>
<arg unless="$(arg scan_20_hz)" name="rpm" value="600"/>
</include>
<!-- IMU orientation estimation and publish tf accordingly to os1_sensor frame -->
<node if="$(arg use_imu)" pkg="rtabmap_ros" type="imu_to_tf" name="imu_to_tf">
<remap from="imu/data" to="/imu/data"/>
<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
<param name="base_frame_id" value="$(arg frame_id)"/>
</node>
<group ns="rtabmap">
@@ -34,13 +41,13 @@
<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
<remap if="$(arg use_imu)" from="imu" to="/imu/data"/>
<param if="$(arg use_imu)" name="guess_frame_id" type="string" value="base_stabilized"/>
<param if="$(arg use_imu)" name="guess_frame_id" type="string" value="$(arg frame_id)_stabilized"/>
<param if="$(arg use_imu)" name="wait_imu_to_init" type="bool" value="true"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/VoxelSize" type="string" value="0.3"/>
<param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
@@ -54,7 +61,7 @@
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
<param name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.3"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
</node>
@@ -88,7 +95,7 @@
<param name="Grid/GroundIsObstacle" type="string" value="true"/>
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.3"/>
<param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="true"/>