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merged master->ros2

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matlabbe
2022-10-01 18:09:19 -07:00
parent 4fb73b4279 5024574e4a
commit 99b9891ab8
57 changed files with 1988 additions and 1096 deletions
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launch/demo/demo_husky.launch
+27 -3
View File
@@ -62,11 +62,35 @@
<arg name="depth_from_lidar" default="false"/>
<arg if="$(arg lidar3d)" name="cell_size" default="0.2"/>
<arg if="$(arg lidar3d)" name="cell_size" default="0.3"/>
<arg unless="$(arg lidar3d)" name="cell_size" default="0.05"/>
<arg if="$(arg lidar2d)" name="lidar_args" default="--Reg/Strategy 1 --RGBD/NeighborLinkRefining true --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0"/>
<arg if="$(arg lidar3d)" name="lidar_args" default="--Reg/Strategy 1 --RGBD/NeighborLinkRefining true --ICP/PM true --Icp/PMOutlierRatio 0.7 --Icp/VoxelSize $(arg cell_size) --Icp/MaxCorrespondenceDistance 1 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/Iterations 10 --Icp/Epsilon 0.001 --OdomF2M/ScanSubtractRadius $(arg cell_size) --OdomF2M/ScanMaxSize 15000 --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0"/>
<arg if="$(arg lidar2d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/MaxTranslation 1"/>
<arg if="$(arg lidar3d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--ICP/PM true
--Icp/PMOutlierRatio 0.7
--Icp/VoxelSize $(arg cell_size)
--Icp/MaxCorrespondenceDistance 1
--Icp/PointToPlaneGroundNormalsUp 0.9
--Icp/Iterations 10
--Icp/Epsilon 0.001
--OdomF2M/ScanSubtractRadius $(arg cell_size)
--OdomF2M/ScanMaxSize 15000
--Grid/ClusterRadius 1
--Grid/RangeMax 20
--Grid/RayTracing $(arg lidar3d_ray_tracing)
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/PointToPlaneNormalK 10
--Icp/MaxTranslation 1"/>
<!--- Run rtabmap -->
<remap from="/rtabmap/grid_map" to="/map"/>
launch/demo/demo_isaac_carter_navigation.launch
+4 -4
View File
@@ -41,12 +41,12 @@
<!-- RTAB-Map -->
<remap from="/rtabmap/grid_map" to="/map"/>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d) --Kp/MaxFeatures -1 --RGBD/ProximityBySpace false --Rtabmap/DetectionRate 3"/>
<arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
<arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
<arg name="localization" value="$(arg localization)"/>
<arg if="$(arg lidar3d)" name="subscribe_scan_cloud" value="true"/>
<arg unless="$(arg lidar3d)" name="subscribe_scan" value="true"/>
<arg name="subscribe_depth" value="$(arg camera)"/>
<arg name="depth" value="$(arg camera)"/>
<arg name="subscribe_rgb" value="$(arg camera)"/>
<arg name="visual_odometry" value="false"/>
<arg name="odom_topic" value="/odom"/>
@@ -59,8 +59,8 @@
<arg name="rgbd_sync" value="true"/>
<arg name="approx_rgbd_sync" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="tag_linear_variance" value="0.01"/>
<arg name="tag_angular_variance" value="1"/>
<arg name="tag_linear_variance" value="0.1"/>
<arg name="tag_angular_variance" value="0.2"/>
<arg name="scan_cloud_assembling" value="$(arg lidar3d)"/>
launch/ros2/config/rgbd.rviz
+42 -47
View File
@@ -118,32 +118,30 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
map:
Value: true
oak-d-base-frame:
Value: true
oak-d_frame:
Value: true
oak_imu_frame:
Value: true
oak_left_camera_frame:
Value: true
oak_left_camera_optical_frame:
Value: true
oak_model_origin:
Value: true
oak_rgb_camera_frame:
Value: true
oak_rgb_camera_optical_frame:
Value: true
oak_right_camera_frame:
Value: true
oak_right_camera_optical_frame:
Value: true
odom:
Value: true
zed2_baro_link:
Value: true
zed2_camera_center:
Value: true
zed2_imu_link:
Value: true
zed2_left_camera_frame:
Value: true
zed2_left_camera_optical_frame:
Value: true
zed2_mag_link:
Value: true
zed2_right_camera_frame:
Value: true
zed2_right_camera_optical_frame:
Value: true
zed2_temp_left_link:
Value: true
zed2_temp_right_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
@@ -152,23 +150,20 @@ Visualization Manager:
Tree:
map:
odom:
base_link:
zed2_camera_center:
zed2_baro_link:
oak-d-base-frame:
oak-d_frame:
oak_imu_frame:
{}
zed2_left_camera_frame:
zed2_imu_link:
oak_left_camera_frame:
oak_left_camera_optical_frame:
{}
zed2_left_camera_optical_frame:
{}
zed2_temp_left_link:
{}
zed2_mag_link:
oak_model_origin:
{}
zed2_right_camera_frame:
zed2_right_camera_optical_frame:
oak_rgb_camera_frame:
oak_rgb_camera_optical_frame:
{}
zed2_temp_right_link:
oak_right_camera_frame:
oak_right_camera_optical_frame:
{}
Update Interval: 0
Value: true
@@ -300,26 +295,26 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rviz_default_plugins/ThirdPersonFollower
Distance: 1.8979769945144653
Class: rviz_default_plugins/Orbit
Distance: 1.935564398765564
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
X: 0.024472296237945557
Y: 0.1059575080871582
Z: 0.36562198400497437
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.09539937227964401
Target Frame: base_link
Value: ThirdPersonFollower (rviz_default_plugins)
Yaw: 3.110400915145874
Pitch: 0.14039947092533112
Target Frame: map
Value: Orbit (rviz_default_plugins)
Yaw: 3.175398111343384
Saved: ~
Window Geometry:
Displays:
@@ -335,5 +330,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1335
X: 211
Y: 105
X: 481
Y: 199
launch/ros2/rtabmap.launch.py
+8 -2
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@@ -85,6 +85,7 @@ def launch_setup(context, *args, **kwargs):
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' != 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
parameters=[{
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
@@ -118,6 +119,7 @@ def launch_setup(context, *args, **kwargs):
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
parameters=[{
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_camera_info": LaunchConfiguration('qos_camera_info')}],
@@ -160,6 +162,7 @@ def launch_setup(context, *args, **kwargs):
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
@@ -193,6 +196,7 @@ def launch_setup(context, *args, **kwargs):
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
@@ -351,7 +355,8 @@ def launch_setup(context, *args, **kwargs):
parameters=[{
"decimation": 4,
"voxel_size": 0.0,
"approx_sync": LaunchConfiguration('approx_sync')
"approx_sync": LaunchConfiguration('approx_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval')
}],
remappings=[
('left/image', LaunchConfiguration('left_image_topic_relay')),
@@ -403,7 +408,8 @@ def generate_launch_description():
DeclareLaunchArgument('ground_truth_frame_id', default_value='', description='e.g., "world"'),
DeclareLaunchArgument('ground_truth_base_frame_id', default_value='', description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree)'),
DeclareLaunchArgument('approx_sync', default_value='false', description='If timestamps of the input topics should be synchronized using approximate or exact time policy.'),
DeclareLaunchArgument('approx_sync', default_value='false', description='If timestamps of the input topics should be synchronized using approximate or exact time policy.'),
DeclareLaunchArgument('approx_sync_max_interval', default_value='0.0', description='(sec) 0 means infinite interval duration (used with approx_sync=true)'),
# RGB-D related topics
DeclareLaunchArgument('rgb_topic', default_value='/camera/rgb/image_rect_color', description=''),
launch/rtabmap.launch
+8 -1
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@@ -57,7 +57,8 @@
<!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
<arg if="$(arg stereo)" name="approx_sync" default="false"/>
<arg unless="$(arg stereo)" name="approx_sync" default="$(arg depth)"/>
<arg unless="$(arg stereo)" name="approx_sync" default="$(arg depth)"/>
<arg name="approx_sync_max_interval" default="0"/> <!-- (sec) 0 means infinite interval duration (used with approx_sync=true) -->
<!-- RGB-D related topics -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
@@ -174,6 +175,7 @@
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="depth_scale" type="double" value="$(arg rgbd_depth_scale)"/>
<param name="decimation" type="double" value="$(arg rgbd_decimation)"/>
@@ -195,6 +197,7 @@
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
</group>
@@ -219,6 +222,7 @@
<param name="decimation" type="double" value="$(arg gen_cloud_decimation)"/>
<param name="voxel_size" type="double" value="$(arg gen_cloud_voxel)"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
</node>
<!-- Visual odometry -->
@@ -242,6 +246,7 @@
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
@@ -271,6 +276,7 @@
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
@@ -450,6 +456,7 @@
<param name="decimation" type="double" value="4"/>
<param name="voxel_size" type="double" value="0.0"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
</node>
</launch>
launch/tests/rgbdslam_datasets.launch
+2
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@@ -49,6 +49,8 @@
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="false"/>
<param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/>
<param name="RGBD/LinearUpdate" type="string" value="0"/>
<param name="RGBD/AngularUpdate" type="string" value="0"/>
<param name="frame_id" type="string" value="kinect"/>
<param name="ground_truth_frame_id" type="string" value="world"/>