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updated azimut3 stereo robot (reduced z error by tilting the camera up)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1908 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-21 15:15:24 +00:00
parent d96261c449
commit ad88bb7bec
2 changed files with 42 additions and 29 deletions
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launch/azimut3/az3_bag_record.launch
+11 -1
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@@ -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"/>
launch/azimut3/az3_mapping_robot_stereo.launch
+31 -28
View File
@@ -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>