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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.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1355 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-11 19:05:08 +00:00
parent 1d0b9002e8
commit b1d740703d
3 changed files with 45 additions and 53 deletions
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launch/rgbd_localization.launch
+16 -20
View File
@@ -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>
launch/rgbd_mapping.launch
+15 -19
View File
@@ -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>
launch/rgbd_mapping_rviz.launch
+14 -14
View File
@@ -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"/>