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https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Removed test_odometry.launch test_stereo_data_recorder.launch test_stereo_odometry.launch
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matlabbe
@@ -1,61 +0,0 @@
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<launch>
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<!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
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-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
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-Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
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Set to 1 for float descriptor like SIFT/SURF
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Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
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-Local map size: number of unique features to keep track
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-->
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<arg name="type" default="6" />
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<arg name="nn" default="3" />
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<arg name="local_map" default="2000" />
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<!-- TF FRAMES -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
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<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
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<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
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<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
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<remap from="odom_in" to="odom"/>
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<remap from="rgb/image_out" to="data_odom_sync/image"/>
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<remap from="depth/image_out" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
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<remap from="odom_out" to="odom_sync"/>
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<param name="queue_size" type="int" value="30"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="data_odom_sync/image"/>
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<remap from="depth/image" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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<!-- Odometry -->
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<node pkg="rtabmap_ros" type="visual_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
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<remap from="odom" to="odom"/>
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<param name="frame_id" type="string" value="base_link"/>
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<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
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<param name="Odom/Type" type="string" value="$(arg type)"/>
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<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
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<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/test_odometry.rviz"/>
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</launch>
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@@ -1,56 +0,0 @@
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<launch>
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<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
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<param name="video_mode" value="format7_mode3" />
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<param name="format7_color_coding" value="raw16" />
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<param name="bayer_pattern" value="bggr" />
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<param name="bayer_method" value="" />
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<param name="stereo_method" value="Interlaced" />
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<param name="camera_info_url_left" value="" />
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<param name="camera_info_url_right" value="" />
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</node>
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<arg name="pi/2" value="1.5707963267948966" />
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<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
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<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
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args="$(arg optical_rotate) base_link stereo_camera 100" />
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<!-- Run the ROS package stereo_image_proc -->
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<group ns="/stereo_camera" >
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<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
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<remap from="left/image" to="left/image_raw"/>
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<remap from="right/image" to="right/image_raw"/>
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<remap from="left/camera_info" to="left/camera_info"/>
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<remap from="right/camera_info" to="right/camera_info"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="rate" type="double" value="20"/>
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</node>
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
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<remap from="left/image_raw" to="left/image_raw_throttle"/>
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<remap from="left/camera_info" to="left/camera_info_throttle"/>
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<remap from="right/image_raw" to="right/image_raw_throttle"/>
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<remap from="right/camera_info" to="right/camera_info_throttle"/>
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</node>
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</group>
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<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
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<param name="output_file_name" value="output.db" type="string"/>
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<param name="frame_id" type="string" value="base_link"/>
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<param name="subscribe_odometry" type="bool" value="false"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param name="queue_size" type="int" value="20"/>
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<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect_color"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
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<param name="queue_size" type="int" value="10"/>
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</node>
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</launch>
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@@ -1,48 +0,0 @@
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<launch>
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<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
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<param name="video_mode" value="format7_mode3" />
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<param name="format7_color_coding" value="raw16" />
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<param name="bayer_pattern" value="bggr" />
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<param name="bayer_method" value="" />
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<param name="stereo_method" value="Interlaced" />
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<param name="camera_info_url_left" value="" />
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<param name="camera_info_url_right" value="" />
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</node>
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<arg name="pi/2" value="1.5707963267948966" />
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<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
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<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
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args="$(arg optical_rotate) base_link stereo_camera 100" />
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<!-- Run the ROS package stereo_image_proc -->
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<group ns="/stereo_camera" >
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
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<!-- Odometry -->
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<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
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<remap from="left/image_rect" to="left/image_rect"/>
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<remap from="right/image_rect" to="right/image_rect"/>
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<remap from="left/camera_info" to="left/camera_info"/>
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<remap from="right/camera_info" to="right/camera_info"/>
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<remap from="odom" to="odom_stereo"/>
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<param name="frame_id" type="string" value="base_link"/>
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<param name="odom_frame_id" type="string" value="odom"/>
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<param name="approx_sync" type="bool" value="false"/>
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<param name="queue_size" type="int" value="5"/>
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<param name="Odom/InlierDistance" type="string" value="0.1"/>
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<param name="Odom/MinInliers" type="string" value="10"/>
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<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="Odom/MaxDepth" type="string" value="10"/>
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<param name="GFTT/MaxCorners" type="string" value="500"/>
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<param name="GFTT/MinDistance" type="string" value="5"/>
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</node>
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</group>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/test_odometry.rviz"/>
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</launch>
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