From b1d740703dfa0d78533aabee83376463d2239c46 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Wed, 11 Jun 2014 19:05:08 +0000
Subject: [PATCH] ros-pkg: Updated rgbd launch files, moved visual_odometry
 node in rtabmap namespace so reset, pause and resume odom services are
 accessible without explicitly set them in the launch file.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1355 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/rgbd_localization.launch | 36 +++++++++++++++------------------
 launch/rgbd_mapping.launch      | 34 ++++++++++++++-----------------
 launch/rgbd_mapping_rviz.launch | 28 ++++++++++++-------------
 3 files changed, 45 insertions(+), 53 deletions(-)

diff --git a/launch/rgbd_localization.launch b/launch/rgbd_localization.launch
index 5852a7cf..ebfb82db 100644
--- a/launch/rgbd_localization.launch
+++ b/launch/rgbd_localization.launch
@@ -6,22 +6,22 @@
   <!-- TF FRAMES -->
   <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
     args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
-   
-  <!-- Odometry -->
-  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
-    <remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
-    <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
-    <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
-   
-    <param name="frame_id" type="string" value="base_link"/>
-    
-    <!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
-  	<param name="Odom/Type" type="string" value="1"/>            <!-- 0=SURF/SIFT 1=FAST/BRIEF -->
-  	<param name="Odom/ResetCountdown" type="string" value="0"/>  <!-- 0=disabled, otherwise countdown before auto-resetting odometry when lost. -->
-  </node>
-  
+     
   <group ns="rtabmap">
   
+    <!-- Odometry -->
+    <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
+      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
+      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
+   
+      <param name="frame_id" type="string" value="base_link"/>
+    
+      <!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
+      <param name="Odom/Type" type="string" value="1"/>            <!-- 0=SURF/SIFT 1=FAST/BRIEF -->
+      <param name="Odom/ResetCountdown" type="string" value="0"/>  <!-- 0=disabled, otherwise countdown before auto-resetting odometry when lost. -->
+    </node>
+  
     <!-- Visual SLAM (robot side) -->
     <!-- args: "delete_db_on_start" and "udebug" -->
     <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
@@ -31,7 +31,7 @@
       <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
-      <remap from="odom" to="/odom"/>
+      <remap from="odom" to="odom"/>
 	
       <param name="queue_size" type="int" value="30"/>
       
@@ -52,11 +52,7 @@
       <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
-      <remap from="odom" to="/odom"/>
-      
-      <remap from="reset_odom" to="/reset_odom"/> <!-- to call rtabmap/visual_odometry "reset_odom" service -->
-      <remap from="pause_odom" to="/pause_odom"/> <!-- to call rtabmap/visual_odometry "pause_odom" service -->
-      <remap from="resume_odom" to="/resume_odom"/> <!-- to call rtabmap/visual_odometry "resume_odom" service -->
+      <remap from="odom" to="odom"/>
     </node>
   
   </group>
diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
index 62385d2f..f3327870 100644
--- a/launch/rgbd_mapping.launch
+++ b/launch/rgbd_mapping.launch
@@ -8,21 +8,21 @@
   <!-- TF FRAMES -->
   <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
     args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
-   
-  <!-- Odometry -->
-  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
-    <remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
-    <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
-    <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
-    
-	<param name="Odom/MinInliers" type="string" value="10"/>
-	<param name="Odom/InlierDistance" type="string" value="0.01"/>
-   
-    <param name="frame_id" type="string" value="base_link"/>
-  </node>
-  
+     
   <group ns="rtabmap">
   
+    <!-- Odometry -->
+    <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
+      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
+      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
+    
+	  <param name="Odom/MinInliers" type="string" value="10"/>
+	  <param name="Odom/InlierDistance" type="string" value="0.01"/>
+   
+      <param name="frame_id" type="string" value="base_link"/>
+    </node>
+  
     <!-- Visual SLAM (robot side) -->
     <!-- args: "delete_db_on_start" and "udebug" -->
     <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
@@ -32,7 +32,7 @@
       <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
-      <remap from="odom" to="/odom"/>
+      <remap from="odom" to="odom"/>
       	
       <param name="queue_size" type="int" value="30"/>
     </node>
@@ -46,11 +46,7 @@
       <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
-      <remap from="odom" to="/odom"/>
-      
-      <remap from="reset_odom" to="/reset_odom"/> <!-- to call rtabmap/visual_odometry "reset_odom" service -->
-      <remap from="pause_odom" to="/pause_odom"/> <!-- to call rtabmap/visual_odometry "pause_odom" service -->
-      <remap from="resume_odom" to="/resume_odom"/> <!-- to call rtabmap/visual_odometry "resume_odom" service -->
+      <remap from="odom" to="odom"/>
     </node>
   
   </group>
diff --git a/launch/rgbd_mapping_rviz.launch b/launch/rgbd_mapping_rviz.launch
index 28a6d333..e69cbe9f 100644
--- a/launch/rgbd_mapping_rviz.launch
+++ b/launch/rgbd_mapping_rviz.launch
@@ -8,21 +8,21 @@
   <!-- TF FRAMES -->
   <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
     args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
-   
-  <!-- Odometry -->
-  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
-    <remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
-    <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
-    <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
     
-    <param name="Odom/MinInliers" type="string" value="10"/>
-	<param name="Odom/InlierDistance" type="string" value="0.01"/>
-   
-    <param name="frame_id" type="string" value="base_link"/>
-  </node>
-  
   <group ns="rtabmap">
   
+    <!-- Odometry -->
+    <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
+      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
+      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
+    
+	  <param name="Odom/MinInliers" type="string" value="10"/>
+	  <param name="Odom/InlierDistance" type="string" value="0.01"/>
+   
+      <param name="frame_id" type="string" value="base_link"/>
+    </node>
+    
     <!-- Visual SLAM -->
     <!-- args: "delete_db_on_start" and "udebug" -->
     <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
@@ -32,7 +32,7 @@
       <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
-      <remap from="odom" to="/odom"/>
+      <remap from="odom" to="odom"/>
 	
       <param name="queue_size" type="int" value="30"/>
     </node>
@@ -55,7 +55,7 @@
     <remap from="rgb/image_in"       to="camera/rgb/image_rect_color"/>
     <remap from="depth/image_in"     to="camera/depth_registered/image_raw"/>
     <remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
-    <remap from="odom_in"             to="odom"/>
+    <remap from="odom_in"             to="rtabmap/odom"/>
     
     <remap from="rgb/image_out"       to="data_odom_sync/image"/>
     <remap from="depth/image_out"     to="data_odom_sync/depth"/>