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Updated rtabmap_demos launch files with new structure.

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This commit is contained in:
matlabbe
2023-03-04 14:24:18 -08:00
parent 523b4c6e6a
commit a7675b7c09
28 changed files with 166 additions and 152 deletions
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rtabmap_demos/launch/config/catvehicle.rviz
+4 -4
View File
@@ -254,7 +254,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: z
Class: rtabmap_ros/MapCloud
Class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 1
Cloud from scan: true
Cloud max depth (m): 0
@@ -284,7 +284,7 @@ Visualization Manager:
Use rainbow: true
Value: true
- Alpha: 1
Class: rtabmap_ros/MapGraph
Class: rtabmap_rviz_plugins/MapGraph
Enabled: true
Global loop closure: 255; 0; 0
Landmark: 0; 128; 0
@@ -324,7 +324,7 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rtabmap_ros/OrbitOriented
Class: rtabmap_rviz_plugins/OrbitOriented
Distance: 32.8247184753418
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
@@ -342,7 +342,7 @@ Visualization Manager:
Near Clip Distance: 0.009999999776482582
Pitch: 0.5253984332084656
Target Frame: catvehicle/base_link
Value: OrbitOriented (rtabmap_ros)
Value: OrbitOriented (rtabmap_rviz_plugins)
Yaw: 2.720399856567383
Saved: ~
Window Geometry:
rtabmap_demos/launch/config/demo_find_object.rviz
+3 -3
View File
@@ -249,7 +249,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap_ros/MapCloud
Class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 4
Cloud from scan: false
Cloud max depth (m): 3
@@ -279,7 +279,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rtabmap_ros/Info
- Class: rtabmap_rviz_plugins/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
@@ -339,7 +339,7 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rtabmap_ros/OrbitOriented
Class: rtabmap_rviz_plugins/OrbitOriented
Distance: 7.50918865
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
rtabmap_demos/launch/config/demo_robot_mapping.rviz
+3 -3
View File
@@ -141,7 +141,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap_ros/MapCloud
Class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 8
Cloud max depth (m): 4
Cloud min depth (m): 0
@@ -171,7 +171,7 @@ Visualization Manager:
Use rainbow: true
Value: true
- Alpha: 1
Class: rtabmap_ros/MapGraph
Class: rtabmap_rviz_plugins/MapGraph
Enabled: true
Global loop closure: 255; 0; 0
Local loop closure: 255; 255; 0
@@ -192,7 +192,7 @@ Visualization Manager:
Topic: /rtabmap/grid_map
Unreliable: false
Value: true
- Class: rtabmap_ros/Info
- Class: rtabmap_rviz_plugins/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
rtabmap_demos/launch/config/demo_stereo_outdoor.rviz
+4 -4
View File
@@ -124,7 +124,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap_ros/MapCloud
Class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud min depth (m): 0
@@ -154,7 +154,7 @@ Visualization Manager:
Use rainbow: true
Value: true
- Alpha: 1
Class: rtabmap_ros/MapGraph
Class: rtabmap_rviz_plugins/MapGraph
Enabled: true
Global loop closure: 255; 0; 0
Local loop closure: 255; 255; 0
@@ -187,7 +187,7 @@ Visualization Manager:
Topic: /rtabmap/grid_map
Unreliable: false
Value: true
- Class: rtabmap_ros/Info
- Class: rtabmap_rviz_plugins/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
@@ -276,7 +276,7 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rtabmap_ros/OrbitOriented
Class: rtabmap_rviz_plugins/OrbitOriented
Distance: 8.28384018
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
rtabmap_demos/launch/config/find_object.ini
+9 -4
View File
@@ -1,6 +1,6 @@
[General]
windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\x1\x2\0\0\x2\xeb\0\0\x2\x96\0\0\x4*\0\0\x1\x2\0\0\x3\a\0\0\x2\x96\0\0\x4*\0\0\0\0\0\0\0\0\a\x80)
windowState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xc4\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xa8\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1;\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x95\0\0\x1\xe\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)"
windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\x1\x2\0\0\x2\xe2\0\0\x2\x96\0\0\x4*\0\0\x1\x2\0\0\x3\a\0\0\x2\x96\0\0\x4*\0\0\0\0\0\0\0\0\a\x80\0\0\x1\x2\0\0\x3\a\0\0\x2\x96\0\0\x4*)
windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xc4\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xa8\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\x35\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x95\0\0\0\xf8\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)
[Camera]
1deviceId=0
@@ -14,8 +14,8 @@ windowState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3
9queueSize=1
[Feature2D]
1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE"
2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY"
1Detector="10:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch"
2Descriptor="6:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch"
3MaxFeatures=0
4Affine=false
5AffineCount=6
@@ -109,6 +109,11 @@ Star_lineThresholdProjected=10
Star_maxSize=45
Star_responseThreshold=30
Star_suppressNonmaxSize=5
SuperPointTorch_NMS=true
SuperPointTorch_NMS_radius=4
SuperPointTorch_cuda=false
SuperPointTorch_modelPath=
SuperPointTorch_threshold=0.2
[%General]
autoPauseOnDetection=false
rtabmap_demos/launch/config/turtlebot_navigation.rviz
+1 -1
View File
@@ -363,7 +363,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap_ros/MapCloud
Class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud voxel size (m): 0.05