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https://github.com/introlab/rtabmap_ros.git
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Added multi-cameras demo: demo_two_kinects.launch
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Mathieu Labbe
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<launch>
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<!-- Multi-cameras demo with 2 Kinects -->
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<!-- Cameras -->
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<include file="$(find freenect_launch)/launch/freenect.launch">
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<arg name="depth_registration" value="True" />
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<arg name="camera" value="camera1" />
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<arg name="device_id" value="#1" />
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</include>
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<include file="$(find freenect_launch)/launch/freenect.launch">
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<arg name="depth_registration" value="True" />
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<arg name="camera" value="camera2" />
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<arg name="device_id" value="#2" />
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</include>
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<!-- Frames: Kinects are placed at 90 degrees -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf"
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args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera1_link 100" />
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera2_tf"
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args="-0.1325 -0.1975 0.0 -1.570796327 0.0 0.0 /base_link /camera2_link 100" />
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<!-- Choose visualization -->
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<arg name="rviz" default="false" />
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<arg name="rtabmapviz" default="true" />
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<!-- ODOMETRY MAIN ARGUMENTS:
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-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
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-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
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-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
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Set to 1 for float descriptor like SIFT/SURF
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Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
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-"max_depth" : Maximum features depth (m)
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-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
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-"inlier_distance" : RANSAC maximum inliers distance (m)
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-"local_map" : Local map size: number of unique features to keep track
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-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
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-->
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<arg name="strategy" default="0" />
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<arg name="feature" default="6" />
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<arg name="nn" default="3" />
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<arg name="max_depth" default="4.0" />
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<arg name="min_inliers" default="20" />
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<arg name="inlier_distance" default="0.02" />
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<arg name="local_map" default="1000" />
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<arg name="odom_info_data" default="true" />
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<arg name="wait_for_transform" default="true" />
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<group ns="rtabmap">
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<!-- Odometry -->
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<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
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<remap from="rgb0/image" to="/camera1/rgb/image_rect_color"/>
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<remap from="depth0/image" to="/camera1/depth_registered/image_raw"/>
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<remap from="rgb0/camera_info" to="/camera1/rgb/camera_info"/>
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<remap from="rgb1/image" to="/camera2/rgb/image_rect_color"/>
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<remap from="depth1/image" to="/camera2/depth_registered/image_raw"/>
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<remap from="rgb1/camera_info" to="/camera2/rgb/camera_info"/>
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<param name="frame_id" type="string" value="base_link"/>
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<param name="depth_cameras" type="int" value="2"/>
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<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
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<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
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<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
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<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
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<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
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<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
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<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
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</node>
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<!-- Visual SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="depth_cameras" type="int" value="2"/>
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<param name="frame_id" type="string" value="base_link"/>
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<param name="gen_scan" type="bool" value="true"/>
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<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
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<remap from="rgb0/image" to="/camera1/rgb/image_rect_color"/>
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<remap from="depth0/image" to="/camera1/depth_registered/image_raw"/>
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<remap from="rgb0/camera_info" to="/camera1/rgb/camera_info"/>
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<remap from="rgb1/image" to="/camera2/rgb/image_rect_color"/>
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<remap from="depth1/image" to="/camera2/depth_registered/image_raw"/>
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<remap from="rgb1/camera_info" to="/camera2/rgb/camera_info"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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</node>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
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<param name="frame_id" type="string" value="base_link"/>
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<param name="depth_cameras" type="int" value="2"/>
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<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
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<remap from="rgb0/image" to="/camera1/rgb/image_rect_color"/>
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<remap from="depth0/image" to="/camera1/depth_registered/image_raw"/>
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<remap from="rgb0/camera_info" to="/camera1/rgb/camera_info"/>
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<remap from="rgb1/image" to="/camera2/rgb/image_rect_color"/>
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<remap from="depth1/image" to="/camera2/depth_registered/image_raw"/>
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<remap from="rgb1/camera_info" to="/camera2/rgb/camera_info"/>
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</node>
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</group>
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<!-- Visualization RVIZ -->
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<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
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<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
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<remap from="rgb/image_in" to="camera1/rgb/image_rect_color"/>
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<remap from="depth/image_in" to="camera1/depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="camera1/rgb/camera_info"/>
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<remap from="odom_in" to="rtabmap/odom"/>
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<remap from="rgb/image_out" to="data_odom_sync/image"/>
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<remap from="depth/image_out" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
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<remap from="odom_out" to="odom_sync"/>
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</node>
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="data_odom_sync/image"/>
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<remap from="depth/image" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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