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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
rtabmap_demos/launch/demo_appearance_mapping.launch
+5 -5
View File
@@ -12,7 +12,7 @@
<group ns="rtabmap">
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="subscribe_rgb" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
@@ -40,11 +40,11 @@
</node>
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen" args="-d $(find rtabmap_ros)/launch/config/appearance_gui.ini">
<node name="rtabmap_viz" pkg="rtabmap_viz" type="rtabmap_viz" output="screen" args="-d $(find rtabmap_demos)/launch/config/appearance_gui.ini">
<param name="subscribe_odom" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<!-- This enables the GUI to pause a rtabmap_ros/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap_ros/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<!-- This enables the GUI to pause a rtabmap_legacy/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap_legacy/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<param name="camera_node_name" type="string" value="/camera"/>
</node>
@@ -55,7 +55,7 @@
<remap from="image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="video_or_images_path" value="$(find rtabmap_ros)/launch/data/demo_appearance" type="string"/>
<param name="video_or_images_path" value="$(find rtabmap_demos)/launch/data/demo_appearance" type="string"/>
<param name="frame_rate" value="2.0" type="double"/>
<param name="width" value="0" type="int"/>
<param name="height" value="0" type="int"/>
rtabmap_demos/launch/demo_catvehicle_mapping.launch
+9 -10
View File
@@ -1,5 +1,4 @@
<?xml version="1.0"?>
<?xml version="1.0"?>
<launch>
<!-- 1) Make sure rtabmap is built with libpointmatcher for lidar:=true option (lidar SLAM)
@@ -9,9 +8,9 @@
urdf. First we have to install velodyne_simulator package to have the
right gazebo plugin and copy this modified velodyne config:
* sudo apt install ros-$ROS_DISTRO-velodyne-simulator
* cp ~/catkin_ws/src/rtabmap_ros/launch/config/catvehicle_velodyne_points.gazebo ~/catkin_ws/src/catvehicle/urdf/.
* cp ~/catkin_ws/src/rtabmap_ros/rtabmap_demos/launch/config/catvehicle_velodyne_points.gazebo ~/catkin_ws/src/catvehicle/urdf/.
Secondly, we have to modify the triclops config to make it stereo:
* cp ~/catkin_ws/src/rtabmap_ros/launch/config/catvehicle_triclops.gazebo ~/catkin_ws/src/catvehicle/urdf/.
* cp ~/catkin_ws/src/rtabmap_ros/rtabmap_demos/launch/config/catvehicle_triclops.gazebo ~/catkin_ws/src/catvehicle/urdf/.
Set world->map frame instead of world->odom frame here:
* https://github.com/jmscslgroup/catvehicle/blob/f58cc64103538bc93cd42dd30f59c4b937151f88/launch/catvehicle.launch#L104
@@ -20,11 +19,11 @@
5) roslaunch catvehicle joystick.launch
6) SLAM, 3 choices:
A) LiDAR-SLAM + Visual loop closure detection:
roslaunch rtabmap_ros demo_catvehicle_mapping.launch
roslaunch rtabmap_demos demo_catvehicle_mapping.launch
B) LiDAR-SLAM without camera:
roslaunch rtabmap_ros demo_catvehicle_mapping.launch camera:=false
roslaunch rtabmap_demos demo_catvehicle_mapping.launch camera:=false
C) Visual-SLAM without lidar:
roslaunch rtabmap_ros demo_catvehicle_mapping.launch lidar:=false
roslaunch rtabmap_demos demo_catvehicle_mapping.launch lidar:=false
Note: Gazebo real-time factor should be equal or below 1. If it is over 1,
in gazebo client, select Physics, then change real time update rate to 500.
@@ -32,7 +31,7 @@
<arg name="camera" default="true" />
<arg name="lidar" default="true" />
<arg name="cell_size" default="0.2" />
<arg name="rtabmapviz" default="true" />
<arg name="rtabmap_viz" default="true" />
<arg name="rviz" default="true" />
<arg name="light" default="false" /> <!-- Don't record all scans if false -->
<arg name="altitude" default="0" /> <!-- assemble occupancy grids by altitude (radius in meters, 0=disabled) -->
@@ -72,7 +71,7 @@
<!-- RTAB-Map -->
<remap from="/catvehicle/grid_map" to="/catvehicle/map"/>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg name="namespace" value="catvehicle"/>
<!-- LiDAR SLAM parameters -->
@@ -112,7 +111,7 @@
<arg name="use_sim_time" value="true"/>
<arg name="wait_for_transform" value="0.3"/>
<arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
<arg name="rtabmap_viz" value="$(arg rtabmap_viz)"/>
<arg name="scan_cloud_assembling" value="$(eval lidar and not light)"/>
<arg name="scan_cloud_assembling_fixed_frame" value="catvehicle/lidar_odom"/>
@@ -121,5 +120,5 @@
<arg name="scan_cloud_assembling_range_min" value="2"/>
</include>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/catvehicle.rviz"/>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/catvehicle.rviz"/>
</launch>
rtabmap_demos/launch/demo_data_recorder.launch
+1 -1
View File
@@ -7,7 +7,7 @@
<param name="use_sim_time" type="bool" value="True"/>
<include file="$(find rtabmap_ros)/launch/data_recorder.launch">
<include file="$(find rtabmap_launch)/launch/data_recorder.launch">
<arg name="subscribe_odometry" value="true"/>
<arg name="subscribe_depth" value="true"/>
<arg name="subscribe_stereo" value="false"/>
rtabmap_demos/launch/demo_find_object.launch
+10 -10
View File
@@ -4,10 +4,10 @@
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="rtabmap_viz" default="false" />
<arg name="save_objects" default="false"/>
<arg name="localization" default="false"/>
<arg name="save_objects_as_landmarks" default="false"/> <!-- apriltag_ros package should be installed and rtabmap_ros built with it -->
<arg name="save_objects_as_landmarks" default="false"/> <!-- apriltag_ros package should be installed and rtabmap_slam built with it -->
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
@@ -16,7 +16,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -59,7 +59,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
@@ -82,9 +82,9 @@
-->
<!-- Visualisation -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_find_object.rviz" output="screen"/>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_find_object.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_util/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
@@ -100,9 +100,9 @@
<!-- Find-Object -->
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="$(find rtabmap_ros)/launch/config/find_object.ini" type="str"/>
<param name="settings_path" value="$(find rtabmap_demos)/launch/config/find_object.ini" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
<param name="objects_path" value="$(find rtabmap_demos)/launch/data/books" type="str"/>
<remap from="rgb/image_rect_color" to="/camera/data_throttled_image"/>
<remap from="depth_registered/image_raw" to="/camera/data_throttled_image_depth"/>
@@ -113,13 +113,13 @@
</node>
<!-- Save objects to database example -->
<node if="$(arg save_objects)" name="save_objects_example" pkg="rtabmap_ros" type="save_objects_example" output="screen">
<node if="$(arg save_objects)" name="save_objects_example" pkg="rtabmap_demos" type="save_objects_example" output="screen">
<remap from="mapData" to="/rtabmap/mapData"/>
<param name="frame_id" value="base_footprint"/>
</node>
<!-- Convert objects to tags -->
<node if="$(arg save_objects_as_landmarks)" name="objects_to_tags" pkg="rtabmap_ros" type="objects_to_tags.py" output="screen">
<node if="$(arg save_objects_as_landmarks)" name="objects_to_tags" pkg="rtabmap_util" type="objects_to_tags.py" output="screen">
<remap from="tag_detections" to="/rtabmap/tag_detections"/>
<param name="distance_max" value="2.0"/>
</node>
rtabmap_demos/launch/demo_hector_mapping.launch
+7 -7
View File
@@ -10,7 +10,7 @@
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="rtabmap_viz" default="false" />
<!-- Choose hector_slam or icp_odometry for odometry -->
<arg name="hector" default="true" />
@@ -64,7 +64,7 @@
</node>
<!-- If argument "hector" is false, we use rtabmap's icp odometry to generate odometry for us -->
<node unless="$(arg hector)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen" >
<node unless="$(arg hector)" pkg="rtabmap_odom" type="icp_odometry" name="icp_odometry" output="screen" >
<remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/scanmatch_odom"/>
<remap from="odom_info" to="/rtabmap/odom_info"/>
@@ -95,7 +95,7 @@
</node>
<group ns="rtabmap">
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_sync/rgbd_sync" output="screen">
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
@@ -105,7 +105,7 @@
<!-- SLAM -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_rgb" type="bool" value="false"/>
@@ -134,7 +134,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_rgbd" type="bool" value="$(arg camera)"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
@@ -151,8 +151,8 @@
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_util/point_cloud_xyzrgb">
<remap from="rgbd_image" to="/rtabmap/rgbd_image"/>
<remap from="cloud" to="voxel_cloud" />
rtabmap_demos/launch/demo_husky.launch
+17 -15
View File
@@ -3,7 +3,7 @@
<launch>
<!-- Bringup the Husky with SICK (2D LiDAR), realsense camera (RGB-D camera) and velodyne (3D LiDAR):
$ export HUSKY_URDF_EXTRAS=$(rospack find rtabmap_ros)/launch/config/husky_velodyne_extra.urdf.xacro
$ export HUSKY_URDF_EXTRAS=$(rospack find rtabmap_demos)/launch/config/husky_velodyne_extra.urdf.xacro
$ roslaunch husky_gazebo husky_playpen.launch realsense_enabled:=true
$ roslaunch husky_viz view_robot.launch
@@ -11,37 +11,37 @@
Examples:
1) 6DoF mapping with 3D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false
$ roslaunch rtabmap_demos demo_husky.launch lidar3d:=true slam2d:=false
2) 6DoF mapping with 3D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true
$ roslaunch rtabmap_demos demo_husky.launch lidar3d:=true slam2d:=false camera:=true
3) 6DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true
$ roslaunch rtabmap_demos demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true
4) 3DoF mapping with 3D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true
$ roslaunch rtabmap_demos demo_husky.launch lidar3d:=true slam2d:=true
5) 3DoF mapping with 3D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true
$ roslaunch rtabmap_demos demo_husky.launch lidar3d:=true slam2d:=true camera:=true
6) 3DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true icp_odometry:=true
$ roslaunch rtabmap_demos demo_husky.launch lidar3d:=true slam2d:=true camera:=true icp_odometry:=true
7) 3DoF mapping with 2D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true
$ roslaunch rtabmap_demos demo_husky.launch lidar2d:=true slam2d:=true
8) 3DoF mapping with 2D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true
$ roslaunch rtabmap_demos demo_husky.launch lidar2d:=true slam2d:=true camera:=true
9) 3DoF mapping with 2D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true icp_odometry:=true
$ roslaunch rtabmap_demos demo_husky.launch lidar2d:=true slam2d:=true camera:=true icp_odometry:=true
10) 6DoF mapping with 3D LiDAR and RGB camera (depth generated by lidar projection) and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true depth_from_lidar:=true rtabmapviz:=true
$ roslaunch rtabmap_demos demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true depth_from_lidar:=true rtabmap_viz:=true
11) 3DoF mapping with 3D LiDAR and RGB camera (depth generated by lidar projection) and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true icp_odometry:=true depth_from_lidar:=true rtabmapviz:=true
$ roslaunch rtabmap_demos demo_husky.launch lidar3d:=true slam2d:=true camera:=true icp_odometry:=true depth_from_lidar:=true rtabmap_viz:=true
Issues:
When setting icp_odometry:=true with navigation, sending a goal to move_base could cause errors like:
@@ -54,7 +54,7 @@
<arg name="navigation" default="true"/>
<arg name="localization" default="false"/>
<arg name="icp_odometry" default="false"/>
<arg name="rtabmapviz" default="false"/>
<arg name="rtabmap_viz" default="false"/>
<arg name="camera" default="false"/>
<arg name="lidar2d" default="false"/>
<arg name="lidar3d" default="false"/>
@@ -66,6 +66,8 @@
<arg if="$(arg lidar3d)" name="cell_size" default="0.3"/>
<arg unless="$(arg lidar3d)" name="cell_size" default="0.05"/>
<arg if="$(eval not lidar2d and not lidar3d)" name="lidar_args" default=""/>
<arg if="$(arg lidar2d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
@@ -95,7 +97,7 @@
<!--- Run rtabmap -->
<remap from="/rtabmap/grid_map" to="/map"/>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg if="$(arg localization)" name="args" value="--Reg/Force3DoF $(arg slam2d) $(arg lidar_args)" />
<arg unless="$(arg localization)" name="args" value="--Reg/Force3DoF $(arg slam2d) $(arg lidar_args) -d" /> <!-- create new map -->
<arg name="localization" value="$(arg localization)" />
@@ -104,7 +106,7 @@
<arg name="imu_topic" value="/imu/data" />
<arg unless="$(arg icp_odometry)" name="odom_topic" value="/odometry/filtered" />
<arg name="frame_id" value="base_link" />
<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
<arg name="rtabmap_viz" value="$(arg rtabmap_viz)" />
<arg name="gps_topic" value="/navsat/fix"/>
<!-- 2D LiDAR -->
rtabmap_demos/launch/demo_isaac_carter_navigation.launch
+3 -3
View File
@@ -6,8 +6,8 @@
1) In Isaac sim, click on menu Isaac Examples - ROS - Navigation
2) Terminal: $ roscore
3) To teleop: $ rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.15 _turn:=0.20
4) Navigation: roslaunch rtabmap_ros demo_isaac_carter_navigation.launch
5) Set max depth range to 10m in rtabmapviz for correct visualization (Preferences->3D Rendering under map and odom columns)
4) Navigation: roslaunch rtabmap_demos demo_isaac_carter_navigation.launch
5) Set max depth range to 10m in rtabmap_viz for correct visualization (Preferences->3D Rendering under map and odom columns)
6) Press Play in Isaac sim
Note: carter_2dnav package can be copied to your catkin_ws from:
@@ -49,7 +49,7 @@
<!-- RTAB-Map -->
<remap from="/rtabmap/grid_map" to="/map"/>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
<arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
<arg name="localization" value="$(arg localization)"/>
rtabmap_demos/launch/demo_multi-session_mapping.launch
+5 -5
View File
@@ -6,7 +6,7 @@
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<arg name="rtabmap_viz" default="true" />
<arg name="rtabmap_args" default="" />
<param name="use_sim_time" type="bool" value="True"/>
@@ -15,7 +15,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -60,7 +60,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
@@ -79,8 +79,8 @@
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_robot_mapping.rviz"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_util/point_cloud_xyzrgb">
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
rtabmap_demos/launch/demo_robot_mapping.launch
+5 -5
View File
@@ -8,7 +8,7 @@
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<arg name="rtabmap_viz" default="true" />
<param name="use_sim_time" type="bool" value="True"/>
@@ -20,7 +20,7 @@
<group ns="rtabmap">
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform" type="bool" value="true"/>
@@ -67,7 +67,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
@@ -85,8 +85,8 @@
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_util/point_cloud_xyzrgb">
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
rtabmap_demos/launch/demo_stereo_outdoor.launch
+7 -7
View File
@@ -11,13 +11,13 @@
/stereo_camera/right/camera_info_throttle
/tf
$ roslaunch rtabmap demo_stereo_outdoor.launch
$ roslaunch rtabmap_demos demo_stereo_outdoor.launch
$ rosbag play -.-clock stereo_oudoorA.bag
-->
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="rtabmap_viz" default="false" />
<arg name="local_bundle" default="true" />
<arg name="stereo_sync" default="false" />
@@ -37,7 +37,7 @@
<param name="disparity_range" value="128"/>
</node>
<node if="$(arg stereo_sync)" pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync">
<node if="$(arg stereo_sync)" pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_sync/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"/>
@@ -48,7 +48,7 @@
<group ns="rtabmap">
<!-- Stereo Odometry -->
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<node pkg="rtabmap_odom" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
@@ -73,7 +73,7 @@
</node>
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
@@ -102,7 +102,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param unless="$(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="$(arg stereo_sync)"/>
@@ -122,6 +122,6 @@
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_stereo_outdoor.rviz"/>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_stereo_outdoor.rviz"/>
</launch>
rtabmap_demos/launch/demo_stereo_pr2.launch
+5 -5
View File
@@ -4,7 +4,7 @@
You will need to remove the transform /combined_odometry from the /tf messages:
$ rosbag filter 2011-01-20-07-18-45.bag out.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/odom_combined"'
Run the example:
$ roslaunch rtabmap demo_stereo.launch
$ roslaunch rtabmap_demos demo_stereo.launch
$ rosbag play -.-clock out.bag (replace -.- by double-dashes)
-->
@@ -14,7 +14,7 @@
<group ns="/wide_stereo">
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="disparity" args="load stereo_image_proc/disparity standalone_nodelet"/>
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap_ros/disparity_to_depth standalone_nodelet"/>
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap_util/disparity_to_depth standalone_nodelet"/>
</group>
<!-- Odometry: Run the viso2_ros package -->
@@ -30,7 +30,7 @@
<!-- 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">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
@@ -68,7 +68,7 @@
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="30"/>
@@ -82,4 +82,4 @@
</node>
</group>
</launch>
</launch>
rtabmap_demos/launch/demo_turtlebot3_navigation.launch
+6 -6
View File
@@ -11,13 +11,13 @@
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
$ export TURTLEBOT3_MODEL=waffle
$ roslaunch rtabmap_ros demo_turtlebot3_navigation.launch
$ roslaunch rtabmap_demos demo_turtlebot3_navigation.launch
-->
<!-- Arguments -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="open_rviz" default="true"/>
<arg name="rtabmapviz" default="true"/>
<arg name="rtabmap_viz" default="true"/>
<arg name="move_forward_only" default="false"/>
<arg name="with_camera" default="true"/>
@@ -32,13 +32,13 @@
</include>
<group ns="rtabmap">
<node if="$(eval model=='waffle')" pkg="rtabmap_ros" type="rgbd_sync" name="rgbd_sync" output="screen">
<node if="$(eval model=='waffle')" pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_raw"/>
<remap from="depth/image" to="/camera/depth/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_rgb" type="bool" value="false"/>
@@ -70,8 +70,8 @@
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
</node>
<!-- visualization with rtabmapviz -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<!-- visualization with rtabmap_viz -->
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_scan" type="bool" value="true"/>
<param name="subscribe_odom" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
rtabmap_demos/launch/demo_turtlebot_mapping.launch
+9 -9
View File
@@ -6,10 +6,10 @@
$ roslaunch turtlebot_bringup minimal.launch
Mapping:
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch
$ roslaunch rtabmap_demos demo_turtlebot_mapping.launch
Visualization:
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
$ roslaunch rtabmap_demos demo_turtlebot_rviz.launch
This launch file is a one to one replacement of the gmapping_demo.launch in the
"SLAM Map Building with TurtleBot" tutorial:
@@ -23,13 +23,13 @@
For turtlebot in simulation (Gazebo):
$ roslaunch turtlebot_gazebo turtlebot_world.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
$ roslaunch rtabmap_demos demo_turtlebot_mapping.launch simulation:=true
$ roslaunch rtabmap_demos demo_turtlebot_rviz.launch
-->
<arg name="database_path" default="rtabmap.db"/>
<arg name="rgbd_odometry" default="false"/>
<arg name="rtabmapviz" default="false"/>
<arg name="rtabmap_viz" default="false"/>
<arg name="localization" default="false"/>
<arg name="simulation" default="false"/>
<arg name="sw_registered" default="false"/>
@@ -58,7 +58,7 @@
<!-- Mapping -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg args)">
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
@@ -108,7 +108,7 @@
</node>
<!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. -->
<node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<node if="$(arg rgbd_odometry)" pkg="rtabmap_odom" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
@@ -119,8 +119,8 @@
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- visualization with rtabmapviz -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<!-- visualization with rtabmap_viz -->
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
rtabmap_demos/launch/demo_turtlebot_rviz.launch
+2 -2
View File
@@ -3,5 +3,5 @@
Used for visualising the turtlebot while building a map or navigating with the ros navistack.
-->
<launch>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find rtabmap_ros)/launch/config/turtlebot_navigation.rviz"/>
</launch>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find rtabmap_demos)/launch/config/turtlebot_navigation.rviz"/>
</launch>
rtabmap_demos/launch/demo_turtlebot_tango.launch
+7 -7
View File
@@ -6,10 +6,10 @@
$ roslaunch turtlebot_bringup minimal.launch
Mapping:
$ roslaunch rtabmap_ros demo_turtlebot_tango.launch
$ roslaunch rtabmap_demos demo_turtlebot_tango.launch
Visualization:
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
$ roslaunch rtabmap_demos demo_turtlebot_rviz.launch
This launch file is a one to one replacement of the gmapping_demo.launch in the
"SLAM Map Building with TurtleBot" tutorial:
@@ -25,7 +25,7 @@
<arg name="database_path" default="rtabmap.db"/>
<arg name="tango_odometry" default="true"/>
<arg name="localization" default="false"/>
<arg name="rtabmapviz" default="false"/>
<arg name="rtabmap_viz" default="false"/>
<arg if="$(arg localization)" name="args" default=""/>
<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
@@ -41,7 +41,7 @@
<node unless="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="base_device_link" args="0 0 0.3 0 0 0 device base_link 100" />
<!-- Generate registered depth image -->
<node name="pointcloud_to_depthimage" pkg="rtabmap_ros" type="pointcloud_to_depthimage">
<node name="pointcloud_to_depthimage" pkg="rtabmap_util" type="pointcloud_to_depthimage">
<remap from="cloud" to="/tango/point_cloud"/>
<remap from="image" to="/tango/registered_depth"/>
<remap from="camera_info" to="/tango/camera/color_1/camera_info"/>
@@ -61,7 +61,7 @@
<!-- Mapping -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg args)">
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
@@ -104,8 +104,8 @@
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
<!-- visualization with rtabmapviz -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<!-- visualization with rtabmap_viz -->
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
rtabmap_demos/launch/demo_two_kinects.launch
+7 -7
View File
@@ -24,7 +24,7 @@
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<arg name="rtabmap_viz" default="true" />
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=Frame-to-Map 1=Frame-to-Frame
@@ -50,14 +50,14 @@
<!-- sync rgb/depth images per camera -->
<group ns="camera1">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera1_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_sync/rgbd_sync camera1_nodelet_manager">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
</node>
</group>
<group ns="camera2">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera2_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_sync/rgbd_sync camera2_nodelet_manager">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
@@ -67,7 +67,7 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<node pkg="rtabmap_odom" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgbd_image0" to="/camera1/rgbd_image"/>
<remap from="rgbd_image1" to="/camera2/rgbd_image"/>
@@ -90,7 +90,7 @@
<!-- 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">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="rgbd_cameras" type="int" value="2"/>
@@ -110,7 +110,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
@@ -125,6 +125,6 @@
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/rgbd.rviz"/>
</launch>
rtabmap_demos/package.xml
+7
View File
@@ -20,5 +20,12 @@
<exec_depend>rtabmap_ros</exec_depend>
<exec_depend>rtabmap_rviz_plugins</exec_depend>
<exec_depend>rtabmap_viz</exec_depend>
<exec_depend>rtabmap_util</exec_depend>
<exec_depend>hector_mapping</exec_depend>
<exec_depend>husky_navigation</exec_depend>
<exec_depend>turtlebot3_gazebo</exec_depend>
<exec_depend>turtlebot3_bringup</exec_depend>
<exec_depend>turtlebot3_navigation</exec_depend>
</package>
rtabmap_launch/launch/rtabmap.launch
+3 -3
View File
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<!-- -->
<launch>
<!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
<!-- Convenience launch file to launch odometry, rtabmap and rtabmap_viz nodes at once -->
<!-- For stereo:=false
Your RGB-D sensor should be already started with "depth_registration:=true".
@@ -22,7 +22,7 @@
<arg name="subscribe_rgb" default="$(arg depth)"/>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="true" />
<arg name="rtabmap_viz" default="true" />
<arg name="rviz" default="false" />
<!-- Localization-only mode -->
@@ -417,7 +417,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(arg gui_cfg)" clear_params="$(arg clear_params)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(arg gui_cfg)" clear_params="$(arg clear_params)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgb" type="bool" value="$(arg subscribe_rgb)"/>
rtabmap_ros/launch/rtabmap.launch
+3 -2
View File
@@ -10,7 +10,8 @@
<arg name="subscribe_rgb" default="$(arg depth)"/>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="true" />
<arg name="rtabmap_viz" default="true" />
<arg name="rtabmapviz" default="$(arg rtabmap_viz)" /> <!-- deprecated, use rtabmap_viz -->
<arg name="rviz" default="false" />
<!-- Localization-only mode -->
@@ -154,7 +155,7 @@
<arg name="depth" value="$(arg depth)"/>
<arg name="subscribe_rgb" value="$(arg subscribe_rgb)"/>
<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
<arg name="rtabmap_viz" value="$(arg rtabmapviz)" />
<arg name="rviz" value="$(arg rviz)" />
<arg name="localization" value="$(arg localization)"/>
rtabmap_viz/src/GuiNode.cpp
+5 -5
View File
@@ -49,7 +49,7 @@ int main(int argc, char** argv)
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
ros::init(argc, argv, "rtabmapviz");
ros::init(argc, argv, "rtabmap_viz");
app = new QApplication(argc, argv);
app->connect( app, SIGNAL( lastWindowClosed() ), app, SLOT( quit() ) );
@@ -68,16 +68,16 @@ int main(int argc, char** argv)
spinner = new ros::AsyncSpinner(1); // Use 1 thread
spinner->start();
ROS_INFO("rtabmapviz started.");
ROS_INFO("rtabmap_viz started.");
// Now wait for application to finish
int r = app->exec();// MUST be called by the Main Thread
ROS_INFO("rtabmapviz stopping spinner...");
ROS_INFO("rtabmap_viz stopping spinner...");
delete spinner;
ROS_INFO("rtabmapviz deleting qt stuff...");
ROS_INFO("rtabmap_viz deleting qt stuff...");
delete gui;
delete app;
ROS_INFO("rtabmapviz: All done! Closing...");
ROS_INFO("rtabmap_viz: All done! Closing...");
return r;
}
rtabmap_viz/src/GuiWrapper.cpp
+12 -12
View File
@@ -98,7 +98,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
pnh.param("rtabmap", rtabmapNodeName_, rtabmapNodeName_);
ROS_INFO("rtabmapviz: Using configuration from \"%s\"", configFile.toStdString().c_str());
ROS_INFO("rtabmap_viz: Using configuration from \"%s\"", configFile.toStdString().c_str());
uSleep(500);
prefDialog_ = new PreferencesDialogROS(configFile, rtabmapNodeName_);
mainWindow_ = new MainWindow(prefDialog_);
@@ -127,7 +127,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
{
initCachePath = UDirectory::currentDir(true) + initCachePath;
}
ROS_INFO("rtabmapviz: Initializing cache with local database \"%s\"", initCachePath.c_str());
ROS_INFO("rtabmap_viz: Initializing cache with local database \"%s\"", initCachePath.c_str());
uSleep(2000); // make sure rtabmap node is created if launched at the same time
rtabmap_msgs::GetMap getMapSrv;
getMapSrv.request.global = false;
@@ -136,7 +136,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
if(!ros::service::call("get_map", getMapSrv))
{
ROS_WARN("Can't call \"get_map\" service. The cache will still be loaded "
"but the clouds won't be created until next time rtabmapviz "
"but the clouds won't be created until next time rtabmap_viz "
"receives the optimized graph.");
}
else
@@ -189,7 +189,7 @@ void GuiWrapper::infoMapCallback(
const rtabmap_msgs::InfoConstPtr & infoMsg,
const rtabmap_msgs::MapDataConstPtr & mapMsg)
{
//ROS_INFO("rtabmapviz: RTAB-Map info ex received!");
//ROS_INFO("rtabmap_viz: RTAB-Map info ex received!");
// Map from ROS struct to rtabmap struct
rtabmap::Statistics stat;
@@ -567,7 +567,7 @@ void GuiWrapper::commonMultiCameraCallback(
waitForTransform_?waitForTransformDuration_:0.0,
imagesAlreadyRectified))
{
ROS_ERROR("Could not convert rgb/depth msgs! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert rgb/depth msgs! Aborting rtabmap_viz update...");
return;
}
}
@@ -583,7 +583,7 @@ void GuiWrapper::commonMultiCameraCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -598,7 +598,7 @@ void GuiWrapper::commonMultiCameraCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -756,7 +756,7 @@ void GuiWrapper::commonStereoCallback(
waitForTransform_?waitForTransformDuration_:0.0,
imagesAlreadyRectified))
{
ROS_ERROR("Could not convert stereo msgs! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert stereo msgs! Aborting rtabmap_viz update...");
return;
}
@@ -771,7 +771,7 @@ void GuiWrapper::commonStereoCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -786,7 +786,7 @@ void GuiWrapper::commonStereoCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -918,7 +918,7 @@ void GuiWrapper::commonLaserScanCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -933,7 +933,7 @@ void GuiWrapper::commonLaserScanCallback(
tfListener_,
waitForTransform_?waitForTransformDuration_:0))
{
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
ROS_ERROR("Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
rtabmap_viz/src/PreferencesDialogROS.cpp
+7 -7
View File
@@ -118,7 +118,7 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
}
ros::NodeHandle rnh(rtabmapNodeName_);
ROS_INFO("rtabmapviz: %s", this->getParamMessage().toStdString().c_str());
ROS_INFO("rtabmap_viz: %s", this->getParamMessage().toStdString().c_str());
bool validParameters = true;
int readCount = 0;
rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
@@ -145,7 +145,7 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
{
if(!warned)
{
ROS_INFO("rtabmapviz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.");
ROS_INFO("rtabmap_viz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.");
warned = true;
}
uSleep(100);
@@ -154,11 +154,11 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
{
if(UTimer::now()-stamp < 5.0)
{
ROS_INFO("rtabmapviz: rtabmap's parameters seem now there! continuing...");
ROS_INFO("rtabmap_viz: rtabmap's parameters seem now there! continuing...");
}
else
{
ROS_WARN("rtabmapviz: rtabmap's parameters seem not all there yet! continuing with those there if some...");
ROS_WARN("rtabmap_viz: rtabmap's parameters seem not all there yet! continuing with those there if some...");
}
}
}
@@ -207,17 +207,17 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
}
else
{
ROS_WARN("rtabmapviz: Parameter %s not found", i->first.c_str());
ROS_WARN("rtabmap_viz: Parameter %s not found", i->first.c_str());
validParameters = false;
}
}
}
ROS_INFO("rtabmapviz: Parameters read = %d", readCount);
ROS_INFO("rtabmap_viz: Parameters read = %d", readCount);
if(validParameters)
{
ROS_INFO("rtabmapviz: Parameters successfully read.");
ROS_INFO("rtabmap_viz: Parameters successfully read.");
}
else
{