Added planner node

Added publishing of laserscan data with data_player
Updated for latest changes of the library (some methods moved from util3d)
rtabmapviz not saving GUI config on ctrl-c

launch/azimut3/config/azimut3.rviz

@@ -272,7 +272,7 @@ Visualization Manager:
         Value: true
       Axis: Z
       Channel Name: intensity
-      Class: rtabmap/MapCloud
+      class: rtabmap_ros/MapCloud
       Cloud decimation: 4
       Cloud max depth (m): 3
       Cloud voxel size (m): 0.02
@@ -298,7 +298,7 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Class: rtabmap/Info
+    - class: rtabmap_ros/Info
       Enabled: true
       Name: Info
       Topic: /rtabmap/info
@@ -330,7 +330,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rtabmap/OrbitOriented
+      class: rtabmap_ros/OrbitOriented
       Distance: 7.83194
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06

launch/azimut3/config/azimut3_nav.rviz

@@ -265,7 +265,7 @@ Visualization Manager:
         Value: true
       Axis: Z
       Channel Name: intensity
-      Class: rtabmap/MapCloud
+      Class: rtabmap_ros/MapCloud
       Cloud decimation: 8
       Cloud max depth (m): 4
       Cloud voxel size (m): 0
@@ -291,7 +291,7 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Class: rtabmap/Info
+    - Class: rtabmap_ros/Info
       Enabled: true
       Name: Info
       Topic: /rtabmap/info
@@ -327,7 +327,7 @@ Visualization Manager:
       Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
       Value: true
     - Alpha: 1
-      Class: rtabmap/MapGraph
+      class: rtabmap_ros/MapGraph
       Color: 0; 0; 255
       Enabled: true
       Name: MapGraph
@@ -381,7 +381,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rtabmap/OrbitOriented
+      class: rtabmap_ros/OrbitOriented
       Distance: 25.5693
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06

launch/azimut3/config/azimut3_stereo_nav.rviz

@@ -288,7 +288,7 @@ Visualization Manager:
         Value: true
       Axis: Z
       Channel Name: intensity
-      Class: rtabmap/MapCloud
+      class: rtabmap_ros/MapCloud
       Cloud decimation: 8
       Cloud max depth (m): 4
       Cloud voxel size (m): 0
@@ -314,7 +314,7 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Class: rtabmap/Info
+    - class: rtabmap_ros/Info
       Enabled: true
       Name: Info
       Topic: /rtabmap/info
@@ -350,7 +350,7 @@ Visualization Manager:
       Topic: /planner/move_base/TrajectoryPlannerROS/local_plan
       Value: true
     - Alpha: 1
-      Class: rtabmap/MapGraph
+      class: rtabmap_ros/MapGraph
       Color: 0; 0; 255
       Enabled: true
       Name: MapGraph
@@ -404,7 +404,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rtabmap/OrbitOriented
+      class: rtabmap_ros/OrbitOriented
       Distance: 6.3581
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06

launch/demo/demo_robot_localization_rviz.launch

@@ -0,0 +1,69 @@
+
+<launch>
+
+   <!-- ROBOT LOCALIZATION VERSION: use this with ROS bag demo_mapping.bag -->
+   <!-- A database "~/.ros/rtabmap.db" must be already created from -->
+   <!-- the "demo_robot_mapping.launch" demo -->
+   <!-- Once RTAB-Map GUI stated, you can do "Edit->Download Map" to get all the map in the GUI -->
+   
+  <param name="use_sim_time" type="bool" value="True"/>
+
+<group ns="rtabmap">
+  <!-- SLAM (robot side) -->
+  <!-- args: "delete_db_on_start" and "udebug" -->
+  <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
+	<param name="frame_id" type="string" value="base_footprint"/>
+	
+	<param name="subscribe_depth" type="bool" value="true"/>
+	<param name="subscribe_laserScan" type="bool" value="true"/>
+	
+	<remap from="odom" to="/az3/base_controller/odom"/>
+	<remap from="scan" to="/jn0/base_scan"/>
+
+	<remap from="rgb/image" to="/data_throttled_image"/>
+  	<remap from="depth/image" to="/data_throttled_image_depth"/>
+  	<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
+  	
+  	<param name="rgb/image_transport" type="string" value="compressed"/>
+    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+	
+	<param name="queue_size" type="int" value="10"/>
+	
+	<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
+    <param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/>  <!-- Database used for localization -->
+    <param name="Rtabmap/DetectionRate" type="string" value="1"/>     <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
+    <param name="Mem/STMSize" type="string" value="1"/>               <!-- 1 location in short-term memory -->
+    <param name="Mem/IncrementalMemory" type="string" value="false"/>  <!-- false = Localization mode-->
+    <param name="Mem/InitWMWithAllNodes" type="string" value="true"/> <!-- Load the full global map in RAM -->
+    <param name="RGBD/PoseScanMatching" type="string" value="true"/>  <!-- Do odometry correction with consecutive laser scans -->
+	<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
+	<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> 
+	<param name="LccIcp/Type" type="string" value="2"/>                      <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
+	<param name="LccIcp2/MaxFitness" type="string" value="10"/>
+	<param name="LccBow/MaxDepth" type="string" value="0.0"/>                <!-- 3D visual words maximum depth 0=infinity -->
+	<param name="LccBow/InlierDistance" type="string" value="0.1"/>          <!-- 3D visual words correspondence distance -->
+  </node>
+  
+  <!-- Grid map assembler for rviz -->
+  <node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
+	  <param name="unknown_space_filled" type="bool" value="false"/>
+  </node>
+  
+</group>
+
+  <!-- Visualisation (client side) -->
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
+   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
+    <remap from="rgb/image"       to="data_throttled_image"/>
+    <remap from="depth/image"     to="data_throttled_image_depth"/>
+    <remap from="rgb/camera_info" to="data_throttled_camera_info"/>
+    <remap from="cloud"           to="voxel_cloud" />
+    
+    <param name="rgb/image_transport" type="string" value="compressed"/>
+    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+    
+    <param name="queue_size" type="int" value="10"/>
+    <param name="voxel_size" type="double" value="0.01"/>
+  </node>
+
+</launch>