Added rgbdslam_datasets.launch example to run RGBD SLAM datasets with RTAB-Map. Added "wait_to_transform" parameter (bool) to all nodes calling lookUpTransform()

2026-10-04 00:37:46 +08:00 · 2014-12-03 22:35:43 -05:00
parent cbdcd855d8
commit aa8aa24e5d
15 changed files with 693 additions and 7 deletions
@@ -0,0 +1,100 @@
+
+<launch>
+   
+   <!-- RGB-D MAPPING VERSION -->
+   <!-- WARNING : Database is automatically deleted on each startup -->
+   <!--           See "delete_db_on_start" option below... -->
+   
+   <param name="use_sim_time" type="bool" value="True"/>
+   
+   <!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
+        -Strategy: 0=BOW (bag-of-words) 1=Optical Flow
+        -Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
+        -Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE 
+           Set to 1 for float descriptor like SIFT/SURF                  
+           Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK      
+        -Local map size: number of unique features to keep track 
+    -->
+   <arg name="strategy" default="0" />
+   <arg name="feature" default="6" />
+   <arg name="nn" default="3" />
+   <arg name="local_map" default="1000" />
+ 
+  <!-- TF FRAMES -->
+  <node pkg="tf" type="static_transform_publisher" name="world_to_map" 
+    args="0.0 0.0 0.0 0.0 0.0 0.0 /world /map 100" />
+    
+      
+  <group ns="rtabmap">
+  
+    <!-- Odometry -->
+    <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
+      <remap from="rgb/image"       to="/camera/rgb/image_color"/>
+      <remap from="depth/image"     to="/camera/depth/image"/>
+      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
+	  
+	  <param name="Odom/Strategy" type="string" value="$(arg strategy)"/> 
+	  <param name="Odom/FeatureType" type="string" value="$(arg feature)"/>            
+      <param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
+      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
+      
+      <param name="frame_id" type="string" value="kinect"/>
+      <param name="publish_tf" type="bool" value="false"/>
+      <param name="queue_size" type="int" value="30"/>
+      <param name="wait_for_transform" type="bool" value="true"/>
+      <param name="ground_truth_frame_id" type="string" value="world"/>
+    </node>
+    <!-- rename the child frame of odometry -->
+    <node name="odom_msg_to_tf" pkg="rtabmap_ros" type="odom_msg_to_tf">
+      <param name="frame_id" type="string" value="kinect_est"/>
+    </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">
+      <param name="subscribe_depth" type="bool" value="true"/>
+      <param name="subscribe_laserScan" type="bool" value="false"/>
+      
+      <param name="frame_id" type="string" value="kinect"/>
+	
+      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="depth/image" to="/camera/depth/image"/>
+      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
+      <remap from="odom" to="odom"/>
+      
+      <param name="LccBow/MinInliers" type="string" value="10"/>
+      <param name="LccBow/InlierDistance" type="string" value="0.05"/>
+
+      <param name="queue_size" type="int" value="30"/>
+    </node>
+    
+    <!-- Visualisation  -->
+    <!--
+    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
+      <param name="subscribe_depth" type="bool" value="true"/>
+      <param name="subscribe_laserScan" type="bool" value="false"/>
+      <param name="queue_size" type="int" value="30"/>
+      
+      <param name="frame_id" type="string" value="kinect"/>
+    
+      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="depth/image" to="/camera/depth/image"/>
+      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
+      <remap from="odom" to="odom"/>
+    </node>
+    -->
+        
+  </group>
+  
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbdslam_datasets.rviz"/>
+  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
+    <remap from="rgb/image"       to="/camera/rgb/image_color"/>
+    <remap from="depth/image"     to="/camera/depth/image"/>
+    <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
+    <remap from="cloud"           to="voxel_cloud" />
+    
+    <param name="queue_size" type="int" value="10"/>
+    <param name="decimation" type="double" value="4"/>
+  </node>
+
+</launch>