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Added example launch file for Kinect2 (XBOX ONE) on ROS indigo

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matlabbe
2015-03-13 16:59:00 -04:00
parent 6400396509
commit a0ae280b74
1 changed files with 122 additions and 0 deletions
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launch/rgbd_mapping_kinect2.launch
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<launch>
<!-- Kinect 2
Install Kinect2 : Follow ALL directives at https://github.com/code-iai/iai_kinect2
Make sure it is calibrated!
Run:
$ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch
$ rosrun kinect2_bridge kinect2_bridge _publish_tf:=true
Prefixes:
sd: rgb_lowres / depth_lowres
hd: rgb_rect / depth_highres
ir: ir_rect / depth_rect
-->
<arg name="rgb_prefix" default="rgb_lowres" />
<arg name="depth_prefix" default="depth_lowres" />
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-"max_depth" : Maximum features depth (m)
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : Local map size: number of unique features to keep track
-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
-->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="4.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /kinect2_link 100" />
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/kinect2/$(arg rgb_prefix)/image"/>
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
</node>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<remap from="rgb/image" to="/kinect2/$(arg rgb_prefix)/image"/>
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<remap from="rgb/image" to="/kinect2/$(arg rgb_prefix)/image"/>
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
</node>
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="/kinect2/$(arg rgb_prefix)/image"/>
<remap from="depth/image_in" to="/kinect2/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info_in" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
<remap from="odom_in" to="rtabmap/odom"/>
<param name="approx_sync" type="bool" value="false"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
<remap from="odom_out" to="odom_sync"/>
</node>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_odom_sync/image"/>
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="voxel_size" type="double" value="0.01"/>
</node>
</launch>