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moved stereo stuff from rgbd_sync to stereo_sync

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matlabbe
2018-05-02 12:29:45 -04:00
parent 30eabe93f1
commit a39ffe382c
11 changed files with 277 additions and 86 deletions
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launch/demo/demo_stereo_outdoor.launch
+18 -6
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@@ -18,6 +18,7 @@
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="local_bundle" default="true" />
<arg name="stereo_sync" default="false" />
<param name="use_sim_time" type="bool" value="True"/>
@@ -27,8 +28,6 @@
<!-- Run the ROS package stereo_image_proc for image rectification -->
<group ns="/stereo_camera" >
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_raw_throttle_relay"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
@@ -36,6 +35,13 @@
<remap from="right/camera_info" to="right/camera_info_throttle"/>
<param name="disparity_range" value="128"/>
</node>
<node if="$(arg stereo_sync)" pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync">
<remap from="left/image_rect" to="left/image_rect_color"/>
<remap from="right/image_rect" to="right/image_rect"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
</group>
<group ns="rtabmap">
@@ -46,10 +52,12 @@
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="rgbd_image" to="/stereo_camera/rgbd_image"/>
<remap from="odom" to="/stereo_odometry"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame=to=Frame -->
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
@@ -66,13 +74,15 @@
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="rgbd_image" to="/stereo_camera/rgbd_image"/>
<remap from="odom" to="/stereo_odometry"/>
@@ -92,8 +102,9 @@
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_stereo" type="bool" value="true"/>
<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
@@ -101,6 +112,7 @@
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="rgbd_image" to="/stereo_camera/rgbd_image"/>
<remap from="odom_info" to="odom_info"/>
<remap from="odom" to="/stereo_odometry"/>
<remap from="mapData" to="mapData"/>