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Updated lidar3d examples with new option "rgbd_images_topic" to input multi-camera data.

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This commit is contained in:
matlabbe
2025-06-07 13:31:50 -07:00
parent b6584b0a10
commit aa1e17b1c1
3 changed files with 39 additions and 7 deletions
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rtabmap_examples/launch/lidar3d.launch.py
+15 -3
View File
@@ -32,7 +32,9 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
imu_used = imu_topic.perform(context) != ''
rgbd_image_topic = LaunchConfiguration('rgbd_image_topic')
rgbd_image_used = rgbd_image_topic.perform(context) != ''
rgbd_images_topic = LaunchConfiguration('rgbd_images_topic')
rgbd_image_used = rgbd_image_topic.perform(context) != '' or rgbd_images_topic.perform(context) != ''
rgbd_cameras = 0 if rgbd_images_topic.perform(context) != '' else 1
voxel_size = LaunchConfiguration('voxel_size')
voxel_size_value = float(voxel_size.perform(context))
@@ -105,6 +107,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'subscribe_odom_info': True,
'subscribe_scan_cloud': True,
'map_frame_id': 'new_map',
'odom_sensor_sync': True, # This will adjust camera position based on difference between lidar and camera stamps.
# RTAB-Map's internal parameters are strings:
'RGBD/ProximityMaxGraphDepth': '0',
'RGBD/ProximityPathMaxNeighbors': '1',
@@ -130,7 +133,10 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
else:
remappings.append(('imu', 'imu_not_used'))
if rgbd_image_used:
remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
if rgbd_cameras == 1:
remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
else:
remappings.append(('rgbd_images', LaunchConfiguration('rgbd_images_topic')))
nodes = [
Node(
@@ -140,7 +146,9 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
Node(
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[shared_parameters, rtabmap_parameters, {'subscribe_rgbd': rgbd_image_used}],
parameters=[shared_parameters, rtabmap_parameters,
{'subscribe_rgbd': rgbd_image_used,
'rgbd_cameras': rgbd_cameras}],
remappings=remappings + [('scan_cloud', lidar_topic_deskewed)],
arguments=arguments),
@@ -215,6 +223,10 @@ def generate_launch_description():
'rgbd_image_topic', default_value='',
description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'),
DeclareLaunchArgument(
'rgbd_images_topic', default_value='',
description='RGBD images topic (ignored if empty, override "rgbd_image_topic" if set). Would be the output of a rtabmap_sync\'s rgbdx_sync node.'),
DeclareLaunchArgument(
'expected_update_rate', default_value='15.0',
description='Expected lidar frame rate. Ideally, set it slightly higher than actual frame rate, like 15 Hz for 10 Hz lidar scans.'),
rtabmap_examples/launch/lidar3d_assemble.launch.py
+12 -2
View File
@@ -42,7 +42,9 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
imu_topic = LaunchConfiguration('imu_topic')
rgbd_image_topic = LaunchConfiguration('rgbd_image_topic')
rgbd_image_used = rgbd_image_topic.perform(context) != ''
rgbd_images_topic = LaunchConfiguration('rgbd_images_topic')
rgbd_image_used = rgbd_image_topic.perform(context) != '' or rgbd_images_topic.perform(context) != ''
rgbd_cameras = 0 if rgbd_images_topic.perform(context) != '' else 1
lidar_topic = LaunchConfiguration('lidar_topic')
lidar_topic_value = lidar_topic.perform(context)
@@ -117,7 +119,10 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
remappings = [('imu', imu_topic),
('odom', 'icp_odom')]
if rgbd_image_used:
remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
if rgbd_cameras == 1:
remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
else:
remappings.append(('rgbd_images', LaunchConfiguration('rgbd_images_topic')))
arguments = []
if localization:
@@ -159,6 +164,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[shared_parameters, rtabmap_parameters,
{'subscribe_rgbd': rgbd_image_used,
'rgbd_cameras': rgbd_cameras,
'topic_queue_size': 40,
'sync_queue_size': 40,}],
remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic'))],
@@ -233,6 +239,10 @@ def generate_launch_description():
'rgbd_image_topic', default_value='',
description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'),
DeclareLaunchArgument(
'rgbd_images_topic', default_value='',
description='RGBD images topic (ignored if empty, override "rgbd_image_topic" if set). Would be the output of a rtabmap_sync\'s rgbdx_sync node.'),
DeclareLaunchArgument(
'voxel_size', default_value='0.1',
description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),
rtabmap_examples/launch/lidar3d_assemble_x2.launch.py
+12 -2
View File
@@ -42,7 +42,9 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
imu_topic = LaunchConfiguration('imu_topic')
rgbd_image_topic = LaunchConfiguration('rgbd_image_topic')
rgbd_image_used = rgbd_image_topic.perform(context) != ''
rgbd_images_topic = LaunchConfiguration('rgbd_images_topic')
rgbd_image_used = rgbd_image_topic.perform(context) != '' or rgbd_images_topic.perform(context) != ''
rgbd_cameras = 0 if rgbd_images_topic.perform(context) != '' else 1
lidar1_topic = LaunchConfiguration('lidar1_topic')
lidar1_topic_value = lidar1_topic.perform(context)
@@ -121,7 +123,10 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
remappings = [('imu', imu_topic),
('odom', 'icp_odom')]
if rgbd_image_used:
remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
if rgbd_cameras == 1:
remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
else:
remappings.append(('rgbd_images', LaunchConfiguration('rgbd_images_topic')))
arguments = []
if localization:
@@ -187,6 +192,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[shared_parameters, rtabmap_parameters,
{'subscribe_rgbd': rgbd_image_used,
'rgbd_cameras': rgbd_cameras,
'topic_queue_size': 40,
'sync_queue_size': 40,}],
remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic'))],
@@ -265,6 +271,10 @@ def generate_launch_description():
'rgbd_image_topic', default_value='',
description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'),
DeclareLaunchArgument(
'rgbd_images_topic', default_value='',
description='RGBD images topic (ignored if empty, override "rgbd_image_topic" if set). Would be the output of a rtabmap_sync\'s rgbdx_sync node.'),
DeclareLaunchArgument(
'voxel_size', default_value='0.1',
description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),