Added demo_catvehicle_mapping.launch (#592). MapCloud display: fixed clouds requested when changing sensor modality.

launch/demo/demo_catvehicle_mapping.launch

@@ -0,0 +1,85 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- 1) Make sure rtabmap is built with libpointmatcher for lidar:=true option (lidar SLAM)
+
+         2) Install https://github.com/jmscslgroup/catvehicle
+            We need a stereo camera and velodyne point cloud looking like the real 
+            sensor (ring-like pattern), so we have to modifiy the default catvehicle 
+            urdf. First we have to install velodyne_simulator package to have the 
+            right gazebo plugin and copy this modified velodyne config: 
+               * sudo apt install ros-$ROS_DISTRO-velodyne-simulator
+               * cp ~/catkin_ws/src/rtabmap_ros/launch/config/catvehicle_velodyne_points.gazebo ~/catkin_ws/src/catvehicle/urdf/.
+            Secondly, we have to modify the triclops config to make it stereo:
+               * cp ~/catkin_ws/src/rtabmap_ros/launch/config/catvehicle_triclops.gazebo ~/catkin_ws/src/catvehicle/urdf/.
+            Set world->map frame instead of world->odom frame here:
+               * https://github.com/jmscslgroup/catvehicle/blob/f58cc64103538bc93cd42dd30f59c4b937151f88/launch/catvehicle.launch#L104
+
+         3) roslaunch catvehicle catvehicle_city.launch gui:=true
+         4) roslaunch catvehicle catvehicle_spawn.launch velodyne_points:=true triclops:=true Z:=5
+         5) roslaunch catvehicle joystick.launch
+         6) SLAM, 3 choices:
+            A) LiDAR-SLAM + Visual loop closure detection: 
+              roslaunch rtabmap_ros demo_catvehicle_mapping.launch
+            B) LiDAR-SLAM without camera: 
+              roslaunch rtabmap_ros demo_catvehicle_mapping.launch camera:=false
+            C) Visual-SLAM without lidar: 
+              roslaunch rtabmap_ros demo_catvehicle_mapping.launch lidar:=false
+
+         Note: Gazebo real-time factor should be equal or below 1. If it is over 1, 
+               in gazebo client, select Physics, then change real time update rate to 500.
+    -->
+    <arg name="camera"     default="true" />
+    <arg name="lidar"      default="true" />
+    <arg name="cell_size"  default="0.2" />
+    <arg name="rtabmapviz" default="true" />
+    <arg name="rviz"       default="true" />
+    <arg name="light"      default="false" /> <!-- Don't record all scans if false -->
+    <arg name="altitude"   default="0" /> <!-- assemble occupancy grids by altitude (radius in meters, 0=disabled) --> 
+
+    <!-- RTAB-Map -->
+    <remap from="/catvehicle/grid_map" to="/catvehicle/map"/>
+    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
+        <arg name="namespace" value="catvehicle"/>
+
+        <!-- LiDAR SLAM parameters -->
+        <arg     if="$(arg lidar)" name="args" value="-d --Rtabmap/DetectionRate 2 --Reg/Strategy 1 --OdomF2M/ScanMaxSize 30000 --Odom/ScanKeyFrameThr 0.6 --Icp/VoxelSize $(arg cell_size) --Icp/Iterations 10 --Icp/MaxTranslation 1 --Icp/RangeMin 1 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/PointToPlaneRadius 0 --Icp/MaxCorrespondenceDistance 1 --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RangeMin 1 --Grid/RayTracing true --Grid/CellSize $(arg cell_size) --Mem/LaserScanNormalK 10 --Grid/PreVoxelFiltering false --Grid/3D false --Kp/RoiRatios '0 0 0 0.3' --Vis/RoiRatios '0 0 0 0.3' --RGBD/LinearUpdate 0.2 --Grid/MaxObstacleHeight 4 --GridGlobal/AltitudeDelta $(arg altitude)"/>
+        
+        <!-- Visual SLAM parameters -->
+        <arg unless="$(arg lidar)" name="args" value="-d --Rtabmap/DetectionRate 2 --Reg/Strategy 0 --Icp/VoxelSize $(arg cell_size) --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RangeMin 2 --Grid/RayTracing true --Grid/CellSize $(arg cell_size) --Grid/3D false --Kp/RoiRatios '0 0 0 0.3' --Vis/RoiRatios '0 0 0 0.3' --Grid/DepthRoiRatios '0 0 0 0.3' --Grid/NormalsSegmentation false --Grid/MaxObstacleHeight 4 --Grid/MaxGroundHeight 0.7 --Grid/NoiseFilteringRadius 0.5 --GridGlobal/AltitudeDelta $(arg altitude)"/>
+
+        <arg name="subscribe_scan_cloud" value="$(arg lidar)"/>
+        <arg name="stereo"            value="$(arg camera)"/>
+        <arg unless="$(arg camera)" name="depth"          value="false"/>
+        <arg unless="$(arg camera)" name="subscribe_rgb"  value="false"/>
+        <arg     if="$(arg lidar)" name="icp_odometry"    value="true"/>
+        <arg unless="$(arg lidar)" name="visual_odometry" value="true"/>
+
+        <arg     if="$(arg lidar)" name="odom_topic" value="lidar_odom"/>
+        <arg unless="$(arg lidar)" name="odom_topic" value="visual_odom"/>
+        
+        <arg name="odom_guess_frame_id" value="catvehicle/odom"/>
+        <arg name="frame_id"            value="catvehicle/base_link"/>
+        <arg name="map_frame_id"        value="catvehicle/map"/>
+        <arg     if="$(arg lidar)" name="vo_frame_id" value="catvehicle/lidar_odom"/>
+        <arg unless="$(arg lidar)" name="vo_frame_id" value="catvehicle/visual_odom"/>
+        
+        <arg name="stereo_namespace"  value="/catvehicle/triclops"/>
+        <arg name="right_image_topic" value="/catvehicle/triclops/right/image_rect_color"/>
+        <arg name="scan_cloud_topic"  value="/catvehicle/velodyne_points"/>
+        <arg name="rgbd_sync"         value="$(arg camera)"/>
+        <arg name="approx_rgbd_sync"  value="false"/>
+        <arg name="approx_sync"       value="$(eval camera and lidar)"/>
+        <arg name="use_sim_time"      value="true"/>
+        <arg name="wait_for_transform" value="0.3"/>
+
+        <arg name="rtabmapviz"      value="$(arg rtabmapviz)"/>
+
+        <arg name="scan_cloud_assembling"             value="$(eval lidar and not light)"/>
+        <arg name="scan_cloud_assembling_fixed_frame" value="catvehicle/lidar_odom"/>
+        <arg name="scan_cloud_assembling_range_max"   value="60"/>
+        <arg name="scan_cloud_assembling_voxel_size"  value="$(arg cell_size)"/>
+        <arg name="scan_cloud_assembling_range_min"   value="1"/>
+    </include>
+
+    <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find catvehicle)/config/catvehicle.rviz"/>
+</launch> 

launch/demo/demo_isaac_carter_navigation.launch

@@ -26,6 +26,8 @@
     <arg name="lidar3d_ray_tracing" default="true" />
     <arg name="lidar3d_grid3d"      default="true" />
 
+    <arg name="camera"              default="true" />
+
     <!-- Load Robot Description -->
     <arg name="model" default="$(find carter_description)/urdf/carter.urdf"/>
     <param name="robot_description" textfile="$(arg model)" />
@@ -33,17 +35,19 @@
     <!-- Lidar 3D based on demo_husky.launch -->
     <arg     if="$(arg lidar3d)" name="cell_size" default="0.2" />
     <arg unless="$(arg lidar3d)" name="cell_size" default="0.05" />
-    <arg     if="$(arg lidar3d)" name="args3d" value="--Icp/Iterations 10 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/PointToPlaneRadius 0 --Icp/MaxCorrespondenceDistance 1 --Grid/ClusterRadius 1 --Grid/RangeMax 10 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Mem/LaserScanNormalK --Grid/3D $(arg lidar3d_grid3d)" />
+    <arg     if="$(arg lidar3d)" name="args3d" value="--Icp/Iterations 10 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/PointToPlaneRadius 0 --Icp/MaxCorrespondenceDistance 1 --Grid/ClusterRadius 1 --Grid/RangeMax 10 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Mem/LaserScanNormalK 10 --Grid/3D $(arg lidar3d_grid3d)" />
     <arg unless="$(arg lidar3d)" name="args3d" value="--Grid/RangeMax 10" /> <!-- 2d scan, use default params -->
 
     <!-- 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 $(arg args3d)"/>
-        <arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true $(arg args3d)"/>
+        <arg     if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)  --Kp/MaxFeatures -1 --RGBD/ProximityBySpace false --Rtabmap/DetectionRate 3"/>
+        <arg unless="$(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="$(arg camera)"/>
+        <arg name="subscribe_rgb"     value="$(arg camera)"/>
         <arg name="visual_odometry"   value="false"/>
         <arg name="odom_topic"        value="/odom"/>
         <arg name="frame_id"          value="base_link"/>
@@ -55,6 +59,9 @@
         <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="scan_cloud_assembling"             value="$(arg lidar3d)"/>
         <arg name="scan_cloud_assembling_fixed_frame" value="odom"/>