i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge master->ros2 (fixed #674)

Browse Source
This commit is contained in:
matlabbe
2021-11-03 12:05:28 -04:00
parent f54404812f 70bc399907
commit ab1288cccc
8 changed files with 67 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/tests/test_velodyne.launch
+24 -12
View File
@@ -1,4 +1,4 @@
<!-- -->
<launch>
<!--
@@ -18,15 +18,25 @@
<arg name="scan_topic" default="/velodyne_points"/>
<arg name="use_sim_time" default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
<arg name="frame_id" default="velodyne"/>
<arg name="queue_size" default="10"/> <!-- Set to 100 for kitti dataset to make sure all scans are processed -->
<arg name="queue_size_odom" default="1"/> <!-- Set to 100 for kitti dataset to make sure all scans are processed -->
<arg name="loop_ratio" default="0.2"/>
<arg name="resolution" default="0.1"/> <!-- set 0.1-0.3 for indoor, set 0.3-0.5 for outdoor (0.4 for kitti) -->
<arg name="iterations" default="10"/>
<arg name="frame_id" default="velodyne"/>
<arg name="queue_size" default="1"/> <!-- Set to 100 for kitti dataset to make sure all scans are processed -->
<arg name="loop_ratio" default="0.4"/> <!-- Set to 0.2 for kitti -->
<!-- Grid parameters -->
<arg name="ground_is_obstacle" default="true"/>
<arg name="grid_max_range" default="20"/>
<arg name="resolution" default="0.1"/> <!-- set 0.1-0.3 for indoor, set 0.3-0.5 for outdoor (0.4 for kitti) -->
<arg name="iterations" default="10"/>
<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (car, kitti) -->
<!-- For F2M Odometry -->
<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (ground robot, car, kitti) -->
<arg name="local_map_size" default="15000"/>
<arg name="key_frame_thr" default="0.8"/>
<!-- For FLOAM Odometry -->
<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
<arg name="floam_sensor" default="0"/> <!-- 0=16 rings (VLP16), 1=32 rings, 2=64 rings (kitti dataset) -->
@@ -48,7 +58,7 @@
<remap from="scan_cloud" to="$(arg scan_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="queue_size" type="int" value="$(arg queue_size_odom)"/>
<param name="wait_for_transform_duration" type="double" value="0.2"/>
<param if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
@@ -75,13 +85,15 @@
<param if="$(arg ground_normals_up)" name="Icp/PointToPlaneGroundNormalsUp" type="string" value="0.8"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
<param name="Odom/ScanKeyFrameThr" type="string" value="$(arg key_frame_thr)"/>
<param if="$(arg floam)" name="Odom/Strategy" type="string" value="11"/>
<param unless="$(arg floam)" name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg resolution)"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="$(arg local_map_size)"/>
<param name="OdomLOAM/Sensor" type="string" value="$(arg floam_sensor)"/>
<param name="OdomLOAM/Resolution" type="string" value="$(arg resolution)"/>
<param if="$(arg scan_20_hz)" name="OdomLOAM/ScanPeriod" type="string" value="0.05"/>
<param unless="$(arg scan_20_hz)" name="OdomLOAM/ScanPeriod" type="string" value="0.1"/>
</node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
@@ -109,9 +121,9 @@
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Grid/CellSize" type="string" value="$(arg resolution)"/>
<param name="Grid/RangeMax" type="string" value="20"/>
<param name="Grid/RangeMax" type="string" value="$(arg grid_max_range)"/>
<param name="Grid/ClusterRadius" type="string" value="1"/>
<param name="Grid/GroundIsObstacle" type="string" value="true"/>
<param name="Grid/GroundIsObstacle" type="string" value="$(arg ground_is_obstacle)"/>
<param name="Optimizer/GravitySigma" type="string" value="0.3"/>
<!-- ICP parameters -->