From ad88bb7bec50b07e3dcb006c7811d091878839d5 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Tue, 21 Oct 2014 15:15:24 +0000
Subject: [PATCH] updated azimut3 stereo robot (reduced z error by tilting the
 camera up)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1908 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/azimut3/az3_bag_record.launch          | 12 +++-
 .../azimut3/az3_mapping_robot_stereo.launch   | 59 ++++++++++---------
 2 files changed, 42 insertions(+), 29 deletions(-)

diff --git a/launch/azimut3/az3_bag_record.launch b/launch/azimut3/az3_bag_record.launch
index f092ec23..e0cd483e 100644
--- a/launch/azimut3/az3_bag_record.launch
+++ b/launch/azimut3/az3_bag_record.launch
@@ -3,7 +3,17 @@
   <!-- rosbag record camera/data_throttled_image/compressed camera/data_throttled_image_depth/compressedDepth camera/data_throttled_camera_info tf base_scan /base_controller/odom -->
   
   <include file="$(find az3_bringup)/az3_standalone.launch"/>
-  <include file="$(find az3_bringup)/joystick.launch"/>
+
+<!-- To control with only one joystick -->
+<include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>
+
+  <node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
+    <param name="scale_angular" value="1.5"/>
+    <param name="scale_linear" value="0.5"/>
+    <remap from="turtlebot_teleop_joystick/cmd_vel" to="base_controller/cmd_vel"/>
+  </node>
+
+  <node pkg="joy" type="joy_node" name="joystick"/>
 
   <!-- OpenNI -->
   <include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
diff --git a/launch/azimut3/az3_mapping_robot_stereo.launch b/launch/azimut3/az3_mapping_robot_stereo.launch
index 2fafc919..62248acd 100644
--- a/launch/azimut3/az3_mapping_robot_stereo.launch
+++ b/launch/azimut3/az3_mapping_robot_stereo.launch
@@ -28,7 +28,7 @@
 	<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
 	    args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />  
 	<node pkg="tf" type="static_transform_publisher" name="base_to_camera_base_link"
-	    args="0 0 0.90 0 0.40 0 base_link stereo_camera_base 100" />  
+	    args="0.01 0.06 0.90 0 0.2 0 base_link stereo_camera_base 100" />  
 	    
 	<!-- Run the ROS package stereo_image_proc for image rectification-->
 	<group ns="/stereo_camera" >
@@ -54,14 +54,14 @@
 	
 	<!-- Visual Odometry -->
 	<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
-		<remap from="stereo" to="/stereo_camera"/>
-		<remap from="image" to="image_rect"/>
-		<remap from="left/camera_info" to="left/camera_info_throttle" />
-	    <remap from="right/camera_info" to="right/camera_info_throttle" />
+	  <remap from="stereo" to="/stereo_camera"/>
+	  <remap from="image" to="image_rect"/>
+	  <remap from="left/camera_info" to="left/camera_info_throttle" />
+	  <remap from="right/camera_info" to="right/camera_info_throttle" />
 	    
-		<param name="base_link_frame_id" value="base_footprint"/>
-		<param name="odom_frame_id" value="odom"/>
-		<param name="ref_frame_change_method" value="1"/>
+	  <param name="base_link_frame_id" value="base_footprint"/>
+	  <param name="odom_frame_id" value="odom"/>
+	  <param name="ref_frame_change_method" value="1"/>
 	</node>
 
   <!-- SLAM (robot side) -->
@@ -70,48 +70,51 @@
     <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
 	  <param name="frame_id" type="string" value="base_footprint"/>
 	  <param name="subscribe_stereo" type="bool" value="true"/>
+	  <param name="subscribe_depth" type="bool" value="false"/>
 
 	  <remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
-      <remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
-      <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
-      <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
+ 	  <remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
+    	  <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
+   	  <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
       	
 	  <remap from="odom" to="/stereo_odometer/odometry"/>
+	  <remap from="mapData" to="mapData_notOptimized"/>
 	
 	  <param name="queue_size" type="int" value="30"/>
 	
-      <!-- RTAB-Map's parameters -->
+	  <!-- RTAB-Map's parameters -->
 	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
-      <param name="Rtabmap/DetectionRate" type="string" value="1"/>
-      
-      <param name="RGBD/ToroIterations" type="string" value="0"/> <!-- Disable graph optimization for map_optimizer node below -->
+   	  <param name="Rtabmap/DetectionRate" type="string" value="1"/>
+ 	  <param name="RGBD/ToroIterations" type="string" value="0"/> <!-- Disable graph optimization for map_optimizer node below -->
 	 
 	  <param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
 	  <param name="Kp/DetectorStrategy" type="string" value="0"/>
-      <param name="Kp/WordsPerImage" type="string" value="200"/>
-      <param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
-      <param name="Kp/NNStrategy" type="string" value="1"/>
+    	  <param name="Kp/WordsPerImage" type="string" value="200"/>
+    	  <param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
+    	  <param name="Kp/NNStrategy" type="string" value="1"/>
 	  
 	  <param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
 	  
 	  <param name="SURF/HessianThreshold" type="string" value="1000"/>
 	  
-      <param name="LccBow/MaxDepth" type="string" value="3"/>
-      <param name="LccBow/MinInliers" type="string" value="10"/>
-      <param name="LccBow/InlierDistance" type="string" value="0.02"/>
+    	  <param name="LccBow/MaxDepth" type="string" value="3"/>
+    	  <param name="LccBow/MinInliers" type="string" value="10"/>
+    	  <param name="LccBow/InlierDistance" type="string" value="0.02"/>
       
-      <param name="LccReextract/Activated" type="string" value="true"/>
-      <param name="LccReextract/FeatureType" type="string" value="4"/>
+    	  <param name="LccReextract/Activated" type="string" value="true"/>
+    	  <param name="LccReextract/FeatureType" type="string" value="4"/>
 	  <param name="LccReextract/MaxWords" type="string" value="400"/>
 	  <param name="LccReextract/NNDR" type="string" value="0.8"/>
 	  <param name="LccReextract/NNType" type="string" value="3"/>   
     </node>
     
-    <node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
-  	<node pkg="rtabmap" type="map_assembler" name="map_assembler">
-  		<remap from="mapData" to="mapData_optimized"/>
-  		<param name="occupancy_grid" type="bool" value="true"/>
- 	</node>
+    <node pkg="rtabmap" type="map_optimizer" name="map_optimizer">
+   	  <remap from="mapData" to="mapData_notOptimized"/>
+	  <remap from="mapData_notOptimized_optimized" to="mapData"/> 
+    </node>
+    <node pkg="rtabmap" type="map_assembler" name="map_assembler">
+    	  <param name="occupancy_grid" type="bool" value="true"/>
+    </node>
  	
   </group>