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https://github.com/introlab/rtabmap_ros.git
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ros_pkg: added launch files for AZIMUT3 robot
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1445 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
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<launch>
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<!-- Visualisation (client side) -->
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<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<remap from="rgb/image" to="data_throttled_image"/>
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<remap from="depth/image" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="odom" to="/base_controller/odom"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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</node>
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</launch>
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<launch>
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<!-- Visualisation (client side) -->
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<!-- Map assembler for rviz -->
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<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen">
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<remap from="infoEx" to="rtabmap/infoEx"/>
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<param name="cloud_decimation" type="int" value="4"/>
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<param name="cloud_voxel_size" type="double" value="0.02"/>
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<param name="scan_voxel_size" type="double" value="0.01"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
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<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
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<remap from="rgb/image_in" to="data_throttled_image"/>
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<remap from="depth/image_in" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_in" to="data_throttled_camera_info"/>
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<remap from="odom_in" to="/base_controller/odom"/>
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<remap from="rgb/image_out" to="data_odom_sync/image"/>
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<remap from="depth/image_out" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
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<remap from="odom_out" to="odom_sync"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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<param name="queue_size" type="int" value="30"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="data_odom_sync/image"/>
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<remap from="depth/image" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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<launch>
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<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
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<include file="$(find az3_bringup)/az3_standalone_openni.launch"/>
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<include file="$(find az3_bringup)/joystick.launch"/>
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<!-- Throttling messages -->
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
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<param name="max_rate" type="double" value="10.0"/>
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<remap from="rgb/image_in" to="camera/rgb/image_color"/>
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<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
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<remap from="rgb/image_out" to="data_throttled_image"/>
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<remap from="depth/image_out" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
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</node>
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<remap from="odom" to="/base_controller/odom"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="rgb/image" to="data_throttled_image"/>
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<remap from="depth/image" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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<param name="queue_size" type="int" value="10"/>
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<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
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<param name="RGBD/ScanMatchingSize" type="string" value="0"/>
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
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<param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
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<param name="LccIcp/Type" type="string" value="2"/>
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<param name="LccIcp2/Iterations" type="string" value="100"/>
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<param name="LccIcp2/VoxelSize" type="string" value="0"/>
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<param name="LccBow/MinInliers" type="string" value="5"/>
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<param name="LccBow/MaxDepth" type="string" value="4.0"/>
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<param name="LccBow/InlierDistance" type="string" value="0.1"/>
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<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
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<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
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</node>
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</launch>
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<launch>
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<!-- rosbag record data_throttled_image/compressed data_throttled_image_depth/compressedDepth data_throttled_camera_info tf base_scan /base_controller/odom -->
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<include file="$(find az3_bringup)/az3_standalone_openni.launch"/>
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<include file="$(find az3_bringup)/joystick.launch"/>
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<!-- Throttling messages -->
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
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<param name="max_rate" type="double" value="10.0"/>
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<remap from="rgb/image_in" to="camera/rgb/image_color"/>
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<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
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<remap from="rgb/image_out" to="data_throttled_image"/>
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<remap from="depth/image_out" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
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</node>
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</launch>
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