mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-07 02:07:45 +08:00
Added rgbdslam_datasets.launch example to run RGBD SLAM datasets with RTAB-Map. Added "wait_to_transform" parameter (bool) to all nodes calling lookUpTransform()
This commit is contained in:
Mathieu Labbe
@@ -101,8 +101,9 @@
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<remap from="cloud" to="cloudXYZ"/>
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<remap from="obstacles" to="/planner_cloud"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="map_frame_id" type="string" value="map"/>
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<param name="wait_for_transform" type="bool" value="true"/>
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<param name="min_cluster_size" type="int" value="20"/>
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<param name="max_obstacles_height" type="double" value="0.0"/>
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</node>
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@@ -0,0 +1,291 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Info1
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- /PointCloud23
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- /PointCloud23/Status1
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Splitter Ratio: 0.529595
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Tree Height: 422
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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Name: Tool Properties
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Splitter Ratio: 0.588679
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: PointCloud2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.03
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: map
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 2.02684
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Min Value: -1.12646
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Value: true
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Axis: Z
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Channel Name: rgb
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 2.34177e-38
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Min Color: 0; 0; 0
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Min Intensity: 9.21942e-41
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /voxel_cloud
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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kinect:
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Value: true
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kinect_est:
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Value: true
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map:
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Value: true
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odom:
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Value: true
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openni_camera:
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Value: true
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openni_depth_frame:
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Value: true
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openni_depth_optical_frame:
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Value: true
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openni_rgb_frame:
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Value: true
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openni_rgb_optical_frame:
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Value: true
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world:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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world:
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kinect:
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openni_camera:
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openni_depth_frame:
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openni_depth_optical_frame:
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{}
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openni_rgb_frame:
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openni_rgb_optical_frame:
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{}
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map:
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odom:
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kinect_est:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /camera/rgb/image_rect_color
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rtabmap/MapCloud
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Cloud decimation: 4
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Cloud max depth (m): 4
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Cloud voxel size (m): 0.01
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Color: 255; 255; 255
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Color Transformer: RGB8
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Download graph: false
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Download map: false
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Enabled: true
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Filter floor (m): 0
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: MapCloud
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Node filtering angle (degrees): 15
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Node filtering radius (m): 0.1
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Position Transformer: XYZ
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /rtabmap/mapData
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rtabmap/Info
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Enabled: true
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Name: Info
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Topic: /rtabmap/info
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /rtabmap/odom_last_frame
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 1.17984
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Min Value: 0.0147058
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 85; 255; 127
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /rtabmap/odom_local_map
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: world
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 3.32013
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.06
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.216951
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Y: 0.819032
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Z: 1.30659
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Name: Current View
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Near Clip Distance: 0.01
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Pitch: 0.554801
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Target Frame: base_link
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Value: Orbit (rviz)
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Yaw: 4.9892
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 824
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Hide Left Dock: false
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Hide Right Dock: false
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Image:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001530000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003a00000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1273
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X: 316
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Y: 95
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@@ -0,0 +1,100 @@
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<launch>
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<!-- RGB-D MAPPING VERSION -->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<param name="use_sim_time" type="bool" value="True"/>
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<!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
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-Strategy: 0=BOW (bag-of-words) 1=Optical Flow
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-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
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-Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
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Set to 1 for float descriptor like SIFT/SURF
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Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
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-Local map size: number of unique features to keep track
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-->
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<arg name="strategy" default="0" />
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<arg name="feature" default="6" />
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<arg name="nn" default="3" />
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<arg name="local_map" default="1000" />
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<!-- TF FRAMES -->
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<node pkg="tf" type="static_transform_publisher" name="world_to_map"
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args="0.0 0.0 0.0 0.0 0.0 0.0 /world /map 100" />
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<group ns="rtabmap">
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<!-- Odometry -->
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<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
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<remap from="rgb/image" to="/camera/rgb/image_color"/>
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<remap from="depth/image" to="/camera/depth/image"/>
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<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
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<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
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<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
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<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
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<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
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<param name="frame_id" type="string" value="kinect"/>
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<param name="publish_tf" type="bool" value="false"/>
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<param name="queue_size" type="int" value="30"/>
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<param name="wait_for_transform" type="bool" value="true"/>
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<param name="ground_truth_frame_id" type="string" value="world"/>
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</node>
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<!-- rename the child frame of odometry -->
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<node name="odom_msg_to_tf" pkg="rtabmap_ros" type="odom_msg_to_tf">
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<param name="frame_id" type="string" value="kinect_est"/>
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</node>
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<!-- Visual SLAM -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="false"/>
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<param name="frame_id" type="string" value="kinect"/>
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<remap from="rgb/image" to="/camera/rgb/image_color"/>
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<remap from="depth/image" to="/camera/depth/image"/>
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<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
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<remap from="odom" to="odom"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.05"/>
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<param name="queue_size" type="int" value="30"/>
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</node>
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<!-- Visualisation -->
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<!--
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<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="false"/>
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<param name="queue_size" type="int" value="30"/>
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<param name="frame_id" type="string" value="kinect"/>
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<remap from="rgb/image" to="/camera/rgb/image_color"/>
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<remap from="depth/image" to="/camera/depth/image"/>
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<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
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<remap from="odom" to="odom"/>
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</node>
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-->
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</group>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbdslam_datasets.rviz"/>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
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<remap from="rgb/image" to="/camera/rgb/image_color"/>
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<remap from="depth/image" to="/camera/depth/image"/>
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<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="decimation" type="double" value="4"/>
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</node>
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</launch>
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Reference in New Issue
Block a user