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

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matlabbe
2022-01-25 18:20:50 -05:00
parent 48e1d464f3
commit 9c9e6f5edb
8 changed files with 270 additions and 5 deletions
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launch/demo/demo_isaac_carter_navigation.launch
+10 -3
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@@ -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"/>