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updated rtabmap.launch

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matlabbe
2016-03-17 14:41:35 -04:00
parent a91a0e0dc8
commit 91c83cc396
5 changed files with 10 additions and 6 deletions
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launch/azimut3/az3_nav_kinect_odom.launch
+2 -2
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@@ -60,7 +60,7 @@
<param name="Bayes/PredictionLC" type="string" value="0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.00035"/> <param name="Bayes/PredictionLC" type="string" value="0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.00035"/>
<param name="OptimizerSlam2D" type="string" value="true"/> <param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Optimizer/Iterations" type="string" value="100"/> <param name="Optimizer/Iterations" type="string" value="100"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Optimizer/Strategy" type="string" value="1"/> <param name="Optimizer/Strategy" type="string" value="1"/>
@@ -158,4 +158,4 @@
<param name="max_obstacles_height" type="double" value="0.4"/> <param name="max_obstacles_height" type="double" value="0.4"/>
</node> </node>
</group> </group>
</launch> </launch>
launch/rtabmap.launch
+3 -2
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@@ -23,7 +23,7 @@
<arg name="rviz" default="false" /> <arg name="rviz" default="false" />
<!-- Corresponding config files --> <!-- Corresponding config files -->
<arg name="cfg" default="~/.ros/rtabmap.ini" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app --> <arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" /> <arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published --> <arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
@@ -60,6 +60,7 @@
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node --> <arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false --> <arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
<arg name="odom_args" default="$(arg rtabmap_args)"/>
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above --> <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/> <arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
@@ -79,7 +80,7 @@
<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="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" /> <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)"> <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/> <remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/> <remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
src/CoreWrapper.cpp
+2 -1
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@@ -726,7 +726,8 @@ Transform CoreWrapper::getTransform(const std::string & fromFrameId, const std::
//if(!tfBuffer_.canTransform(fromFrameId, toFrameId, stamp, ros::Duration(1))) //if(!tfBuffer_.canTransform(fromFrameId, toFrameId, stamp, ros::Duration(1)))
if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_))) if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_)))
{ {
ROS_WARN("rtabmap: Could not get transform from %s to %s after %f second!", fromFrameId.c_str(), toFrameId.c_str(), waitForTransformDuration_); ROS_WARN("rtabmap: Could not get transform from %s to %s after %f seconds (for stamp=%f)!",
fromFrameId.c_str(), toFrameId.c_str(), waitForTransformDuration_, stamp.toSec());
return transform; return transform;
} }
} }
src/GuiNode.cpp
+1
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <signal.h> #include <signal.h>
void my_handler(int s){ void my_handler(int s){
ROS_INFO("rtabmapviz: ctrl-c catched! Exiting Qt app...");
QApplication::exit(); QApplication::exit();
} }
src/GuiWrapper.cpp
+2 -1
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@@ -493,7 +493,8 @@ Transform GuiWrapper::getTransform(const std::string & fromFrameId, const std::s
//if(!tfBuffer_.canTransform(fromFrameId, toFrameId, stamp, ros::Duration(1))) //if(!tfBuffer_.canTransform(fromFrameId, toFrameId, stamp, ros::Duration(1)))
if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_))) if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_)))
{ {
ROS_WARN("rtabmapviz: Could not get transform from %s to %s after %f seconds!", fromFrameId.c_str(), toFrameId.c_str(), waitForTransformDuration_); ROS_WARN("rtabmapviz: Could not get transform from %s to %s after %f seconds (for stamp=%f)!",
fromFrameId.c_str(), toFrameId.c_str(), waitForTransformDuration_, stamp.toSec());
return transform; return transform;
} }
} }