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updated rgbdslam_datasets.launch with instructions to rename world->kinect frame

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matlabbe
2019-03-20 16:37:44 -04:00
parent 6d149cd9bc
commit 985ac592fb
1 changed files with 5 additions and 12 deletions
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launch/tests/rgbdslam_datasets.launch
+4 -11
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@@ -4,6 +4,8 @@
<!-- Example to run rgbd datasets: <!-- Example to run rgbd datasets:
$ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag $ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
$ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag $ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag
$ wget https://gist.githubusercontent.com/matlabbe/897b775c38836ed8069a1397485ab024/raw/6287ce3def8231945326efead0c8a7730bf6a3d5/tum_rename_world_kinect_frame.py
$ python tum_rename_world_kinect_frame.py rgbd_dataset_freiburg3_long_office_household.bag
$ roslaunch rtabmap_ros rgbdslam_datasets.launch $ roslaunch rtabmap_ros rgbdslam_datasets.launch
$ rosbag play -.-clock rgbd_dataset_freiburg3_long_office_household.bag $ rosbag play -.-clock rgbd_dataset_freiburg3_long_office_household.bag
@@ -27,29 +29,22 @@
<remap from="rgb/image" to="/camera/rgb/image_color"/> <remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/> <remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="odom" to="vis_odom"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame --> <param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame -->
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/> <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="Odom/ResetCountdown" type="string" value="15"/> <param name="Odom/ResetCountdown" type="string" value="15"/>
<param name="odom_frame_id" type="string" value="vis_odom"/>
<param name="frame_id" type="string" value="kinect"/> <param name="frame_id" type="string" value="kinect"/>
<param name="publish_tf" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/> <param name="queue_size" type="int" value="30"/>
<param name="wait_for_transform" type="bool" value="true"/> <param name="wait_for_transform" type="bool" value="true"/>
<param name="ground_truth_frame_id" type="string" value="world"/> <param name="ground_truth_frame_id" type="string" value="world"/>
</node> <param name="ground_truth_base_frame_id" type="string" value="kinect_gt"/>
<!-- rename the child frame of odometry -->
<node name="odom_msg_to_tf" pkg="rtabmap_ros" type="odom_msg_to_tf">
<param name="frame_id" type="string" value="kinect_est"/>
</node> </node>
<!-- Visual SLAM --> <!-- Visual SLAM -->
<!-- args: "delete_db_on_start" and "udebug" --> <!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/> <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <param name="Kp/DetectorStrategy" type="string" value="0"/>
@@ -58,11 +53,11 @@
<param name="frame_id" type="string" value="kinect"/> <param name="frame_id" type="string" value="kinect"/>
<param name="ground_truth_frame_id" type="string" value="world"/> <param name="ground_truth_frame_id" type="string" value="world"/>
<param name="ground_truth_base_frame_id" type="string" value="kinect_gt"/>
<remap from="rgb/image" to="/camera/rgb/image_color"/> <remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/> <remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="odom" to="vis_odom"/>
<param name="queue_size" type="int" value="30"/> <param name="queue_size" type="int" value="30"/>
</node> </node>
@@ -70,7 +65,6 @@
<!-- Visualisation --> <!-- Visualisation -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen"> <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="subscribe_odom_info" type="bool" value="true"/> <param name="subscribe_odom_info" type="bool" value="true"/>
<param name="queue_size" type="int" value="30"/> <param name="queue_size" type="int" value="30"/>
@@ -79,7 +73,6 @@
<remap from="rgb/image" to="/camera/rgb/image_color"/> <remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/> <remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="odom" to="vis_odom"/>
</node> </node>
</group> </group>