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rtabmap: scan_cloud_normal_k and scan_normal_radius removed. odometry: added guess_min_translation, guess_min_rotation and scan_voxel_size parameters. data_recorder.launch: updated to support rgbd_image and scan_cloud inputs.

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matlabbe
2017-09-19 14:27:41 -04:00
parent ea6f39eb73
commit a0e2596cd2
12 changed files with 237 additions and 160 deletions
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launch/data_recorder.launch
+12 -1
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@@ -4,12 +4,16 @@
<arg name="subscribe_odometry" default="false"/>
<arg name="subscribe_depth" default="true"/>
<arg name="subscribe_stereo" default="false"/>
<arg name="subscribe_rgbd" default="false"/>
<arg name="subscribe_scan" default="false"/>
<arg name="subscribe_scan_cloud" default="false"/>
<arg if="$(arg subscribe_stereo)" name="approx_sync" default="false"/>
<arg unless="$(arg subscribe_stereo)" name="approx_sync" default="true"/>
<arg name="frame_id" default="camera_link"/>
<arg name="odom_frame_id" default=""/> <!-- use topic when not set, otherwise use TF if set -->
<arg name="ground_truth_frame_id" default=""/> <!-- e.g., "world" -->
<arg name="ground_truth_base_frame_id" default=""/> <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
<arg name="output_path" default="output.db"/>
<arg name="record_in_RAM" default="false"/>
@@ -23,8 +27,10 @@
<arg name="left_info_topic" default="camera/left/camera_info"/>
<arg name="right_topic" default="camera/right/image_rect"/>
<arg name="right_info_topic" default="camera/right/camera_info"/>
<arg name="rgbd_topic" default="camera/rgbd_image" />
<arg name="odom_topic" default="odom"/>
<arg name="scan_topic" default="scan"/>
<arg name="scan_cloud_topic" default="scan_cloud"/>
<arg name="rgb_image_transport" default="raw"/>
<arg name="depth_image_transport" default="raw"/>
@@ -50,9 +56,12 @@
<param name="DbSqlite3/InMemory" type="string" value="$(arg record_in_RAM)"/>
<param name="database_path" type="string" value="$(arg output_path)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="$(arg subscribe_depth)"/>
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param name="subscribe_stereo" type="bool" value="$(arg subscribe_stereo)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
@@ -72,7 +81,9 @@
<remap from="left/camera_info" to="$(arg left_info_topic)"/>
<remap from="right/image_rect" to="$(arg right_topic)"/>
<remap from="right/camera_info" to="$(arg right_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>
</launch>