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Updated test_d435i_vio.launch

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matlabbe
2019-09-18 20:57:25 -04:00
parent e888d655e8
commit aeed29f428
1 changed files with 7 additions and 4 deletions
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launch/tests/test_d435i_vio.launch
+7 -4
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@@ -19,15 +19,17 @@
<remap from="/imu/data" to="/rtabmap/imu"/> <remap from="/imu/data" to="/rtabmap/imu"/>
</node> </node>
<node pkg="topic_tools" type="throttle" name="imu_throttle" args="messages /rtabmap/imu 100.0"/>
<!-- RTAB-Map: depth mode --> <!-- RTAB-Map: depth mode -->
<!-- We have to launch stereo_odometry externally from rtabmap.launch so that rtabmap can use RGB-D input --> <!-- We have to launch stereo_odometry externally from rtabmap.launch so that rtabmap can use RGB-D input -->
<group ns="rtabmap"> <group ns="rtabmap">
<node if="$(arg depth_mode)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" args="--Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml"> <node if="$(arg depth_mode)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" args="--Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml --Rtabmap/ImagesAlreadyRectified false" output="screen">
<remap from="left/image_rect" to="/camera/infra1/image_rect_raw"/> <remap from="left/image_rect" to="/camera/infra1/image_rect_raw"/>
<remap from="right/image_rect" to="/camera/infra2/image_rect_raw"/> <remap from="right/image_rect" to="/camera/infra2/image_rect_raw"/>
<remap from="left/camera_info" to="/camera/infra1/camera_info"/> <remap from="left/camera_info" to="/camera/infra1/camera_info"/>
<remap from="right/camera_info" to="/camera/infra2/camera_info"/> <remap from="right/camera_info" to="/camera/infra2/camera_info"/>
<remap from="imu" to="/rtabmap/imu"/> <remap from="imu" to="/rtabmap/imu_throttle"/>
<param name="frame_id" value="camera_link"/> <param name="frame_id" value="camera_link"/>
<param name="wait_imu_to_init" value="true"/> <param name="wait_imu_to_init" value="true"/>
</node> </node>
@@ -39,7 +41,7 @@
<arg name="camera_info_topic" value="/camera/color/camera_info"/> <arg name="camera_info_topic" value="/camera/color/camera_info"/>
<arg name="visual_odometry" value="false"/> <arg name="visual_odometry" value="false"/>
<arg name="frame_id" value="camera_link"/> <arg name="frame_id" value="camera_link"/>
<arg name="imu_topic" value="/rtabmap/imu"/> <arg name="imu_topic" value="/rtabmap/imu_throttle"/>
<arg name="rtabmapviz" value="$(arg rtabmapviz)"/> <arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
<arg name="rviz" value="$(arg rviz)"/> <arg name="rviz" value="$(arg rviz)"/>
</include> </include>
@@ -47,13 +49,14 @@
<!-- RTAB-Map: Stereo mode --> <!-- RTAB-Map: Stereo mode -->
<include unless="$(arg depth_mode)" file="$(find rtabmap_ros)/launch/rtabmap.launch"> <include unless="$(arg depth_mode)" file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml"/> <arg name="rtabmap_args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml"/>
<arg name="odom_args" value="--Rtabmap/ImagesAlreadyRectified false"/>
<arg name="left_image_topic" value="/camera/infra1/image_rect_raw"/> <arg name="left_image_topic" value="/camera/infra1/image_rect_raw"/>
<arg name="right_image_topic" value="/camera/infra2/image_rect_raw"/> <arg name="right_image_topic" value="/camera/infra2/image_rect_raw"/>
<arg name="left_camera_info_topic" value="/camera/infra1/camera_info"/> <arg name="left_camera_info_topic" value="/camera/infra1/camera_info"/>
<arg name="right_camera_info_topic" value="/camera/infra2/camera_info"/> <arg name="right_camera_info_topic" value="/camera/infra2/camera_info"/>
<arg name="stereo" value="true"/> <arg name="stereo" value="true"/>
<arg name="frame_id" value="camera_link"/> <arg name="frame_id" value="camera_link"/>
<arg name="imu_topic" value="/rtabmap/imu"/> <arg name="imu_topic" value="/rtabmap/imu_throttle"/>
<arg name="wait_imu_to_init" value="true"/> <arg name="wait_imu_to_init" value="true"/>
<arg name="rtabmapviz" value="$(arg rtabmapviz)"/> <arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
<arg name="rviz" value="$(arg rviz)"/> <arg name="rviz" value="$(arg rviz)"/>