mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Multi camera examples using D405 (#1002)
Co-authored-by: Adrian Ricardez Ortigosa <[email protected]>
This commit is contained in:
Adrián Ricárdez
co-authored by
Adrian Ricardez Ortigosa
Adrian Ricardez Ortigosa
parent
49316bff00
commit
b32f15e2f1
@@ -0,0 +1,434 @@
|
||||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /TF1/Frames1
|
||||
- /TF1/Tree1
|
||||
Splitter Ratio: 0.5340050458908081
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||||
Tree Height: 413
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /2D Goal Pose1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz_common/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: MapCloud
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
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||||
Enabled: true
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||||
Line Style:
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||||
Line Width: 0.029999999329447746
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Value: Lines
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||||
Name: Grid
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||||
Normal Cell Count: 0
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||||
Offset:
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||||
X: 0
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||||
Y: 0
|
||||
Z: 0
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||||
Plane: XY
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||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
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||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
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||||
Max Value: 10
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||||
Min Value: -10
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Value: true
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||||
Axis: Z
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||||
Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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||||
Color: 255; 255; 255
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||||
Color Transformer: RGB8
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||||
Decay Time: 0
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||||
Enabled: false
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||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
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||||
Max Intensity: 4096
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||||
Min Color: 0; 0; 0
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||||
Min Intensity: 0
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Name: PointCloud2 Vorne
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||||
Position Transformer: XYZ
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Selectable: true
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||||
Size (Pixels): 3
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Size (m): 0.009999999776482582
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||||
Style: Flat Squares
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||||
Topic:
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Depth: 5
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||||
Durability Policy: Volatile
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||||
Filter size: 10
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||||
History Policy: Keep Last
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||||
Reliability Policy: Reliable
|
||||
Value: /camera1/depth/color/points
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||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
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||||
Max Value: 10
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||||
Min Value: -10
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||||
Value: true
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||||
Axis: Z
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||||
Channel Name: intensity
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||||
Class: rviz_default_plugins/PointCloud2
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||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
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||||
Decay Time: 0
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||||
Enabled: false
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
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||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
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||||
Min Intensity: 0
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Name: PointCloud2 Oben
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||||
Position Transformer: XYZ
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Selectable: true
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||||
Size (Pixels): 3
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Size (m): 0.009999999776482582
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||||
Style: Flat Squares
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||||
Topic:
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||||
Depth: 5
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||||
Durability Policy: Volatile
|
||||
Filter size: 10
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||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera2/depth/color/points
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||||
Use Fixed Frame: true
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||||
Use rainbow: true
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||||
Value: false
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||||
- Class: rviz_default_plugins/TF
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||||
Enabled: true
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||||
Frame Timeout: 15
|
||||
Frames:
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||||
All Enabled: false
|
||||
base_link:
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Value: true
|
||||
camera1_color_frame:
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Value: true
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||||
camera1_color_optical_frame:
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Value: true
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||||
camera1_depth_frame:
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Value: true
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camera1_depth_optical_frame:
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Value: true
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||||
camera1_link:
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Value: true
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||||
camera2_color_frame:
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||||
Value: true
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||||
camera2_color_optical_frame:
|
||||
Value: true
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||||
camera2_depth_frame:
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||||
Value: true
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||||
camera2_depth_optical_frame:
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||||
Value: true
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||||
camera2_link:
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||||
Value: true
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||||
map:
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Value: true
|
||||
odom:
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||||
Value: true
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||||
Marker Scale: 1
|
||||
Name: TF
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||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
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||||
map:
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odom:
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base_link:
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camera1_link:
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camera1_color_frame:
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camera1_color_optical_frame:
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{}
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||||
camera1_depth_frame:
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camera1_depth_optical_frame:
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{}
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||||
camera2_link:
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camera2_color_frame:
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||||
camera2_color_optical_frame:
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{}
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||||
camera2_depth_frame:
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camera2_depth_optical_frame:
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||||
{}
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||||
Update Interval: 0
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
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||||
Autocompute Value Bounds:
|
||||
Max Value: 10
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||||
Min Value: -10
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||||
Value: true
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||||
Axis: Z
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||||
Channel Name: intensity
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||||
Class: rtabmap_rviz_plugins/MapCloud
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Cloud decimation: 4
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Cloud from scan: false
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||||
Cloud max depth (m): 4
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||||
Cloud min depth (m): 0
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||||
Cloud voxel size (m): 0.009999999776482582
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Download graph: false
|
||||
Download map: false
|
||||
Download namespace: rtabmap
|
||||
Enabled: true
|
||||
Filter ceiling (m): 0
|
||||
Filter floor (m): 0
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: MapCloud
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||||
Node filtering angle (degrees): 30
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||||
Node filtering radius (m): 0
|
||||
Position Transformer: XYZ
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||||
Size (Pixels): 3
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||||
Size (m): 0.009999999776482582
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||||
Style: Points
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||||
Topic:
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Depth: 5
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||||
Durability Policy: Volatile
|
||||
Filter size: 10
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||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /rtabmap/mapData
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||||
Use Fixed Frame: true
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Use rainbow: true
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Value: true
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||||
- Alpha: 1
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||||
Autocompute Intensity Bounds: true
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||||
Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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||||
Axis: Z
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||||
Channel Name: intensity
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||||
Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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||||
Color Transformer: RGB8
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||||
Decay Time: 0
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||||
Enabled: false
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||||
Invert Rainbow: false
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||||
Max Color: 255; 255; 255
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Max Intensity: 4096
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||||
Min Color: 0; 0; 0
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Min Intensity: 0
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||||
Name: Camera1 Cloud
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||||
Position Transformer: XYZ
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||||
Selectable: true
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||||
Size (Pixels): 3
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||||
Size (m): 0.009999999776482582
|
||||
Style: Points
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||||
Topic:
|
||||
Depth: 5
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||||
Durability Policy: Volatile
|
||||
Filter size: 10
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||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /voxel_cloud1
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
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||||
Value: true
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||||
Axis: Z
|
||||
Channel Name: intensity
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||||
Class: rviz_default_plugins/PointCloud2
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||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: false
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
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||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: Camera2 Cloud
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||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
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||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
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||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /voxel_cloud2
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||||
Use Fixed Frame: true
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||||
Use rainbow: true
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Value: false
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||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: true
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
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||||
Name: Image
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||||
Normalize Range: true
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||||
Topic:
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Depth: 5
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||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera1/color/image_rect_raw
|
||||
Value: true
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||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: true
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera2/color/image_rect_raw
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: PointCloud2
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /rtabmap/odom_local_map
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||||
Use Fixed Frame: true
|
||||
Use rainbow: true
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||||
Value: true
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||||
Enabled: true
|
||||
Global Options:
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||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
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Frame Rate: 30
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||||
Name: root
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||||
Tools:
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- Class: rviz_default_plugins/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Covariance x: 0.25
|
||||
Covariance y: 0.25
|
||||
Covariance yaw: 0.06853891909122467
|
||||
Topic:
|
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Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
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||||
- Class: rviz_default_plugins/SetGoal
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||||
Topic:
|
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Depth: 5
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||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
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||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
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Value: true
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||||
Views:
|
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Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 3.691277027130127
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
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X: -0.1845460832118988
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Y: 1.409915566444397
|
||||
Z: 0.6871283054351807
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.13479618728160858
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 1.8135828971862793
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1136
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000018f000003d2fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000228000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000026b000000d10000002800fffffffb0000000a0049006d0061006700650100000342000000cd0000002800ffffff000000010000010f000003d2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003d2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000048c000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1846
|
||||
X: 1994
|
||||
Y: 27
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||||
@@ -0,0 +1,538 @@
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Panels:
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- Class: rviz_common/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
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||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.5340050458908081
|
||||
Tree Height: 308
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /2D Goal Pose1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz_common/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: PointCloud2 Vorne
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: false
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: PointCloud2 Vorne
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera/depth/color/points
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: false
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: PointCloud2 Oben
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera1/depth/color/points
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: false
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: PointCloud2 Unten
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera2/depth/color/points
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: false
|
||||
- Class: rviz_default_plugins/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
base_link:
|
||||
Value: true
|
||||
camera1_color_frame:
|
||||
Value: true
|
||||
camera1_color_optical_frame:
|
||||
Value: true
|
||||
camera1_depth_frame:
|
||||
Value: true
|
||||
camera1_depth_optical_frame:
|
||||
Value: true
|
||||
camera1_link:
|
||||
Value: true
|
||||
camera2_color_frame:
|
||||
Value: true
|
||||
camera2_color_optical_frame:
|
||||
Value: true
|
||||
camera2_depth_frame:
|
||||
Value: true
|
||||
camera2_depth_optical_frame:
|
||||
Value: true
|
||||
camera2_link:
|
||||
Value: true
|
||||
camera_color_frame:
|
||||
Value: true
|
||||
camera_color_optical_frame:
|
||||
Value: true
|
||||
camera_depth_frame:
|
||||
Value: true
|
||||
camera_depth_optical_frame:
|
||||
Value: true
|
||||
camera_link:
|
||||
Value: true
|
||||
map:
|
||||
Value: true
|
||||
odom:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
map:
|
||||
{}
|
||||
odom:
|
||||
base_link:
|
||||
camera1_link:
|
||||
camera1_color_frame:
|
||||
camera1_color_optical_frame:
|
||||
{}
|
||||
camera1_depth_frame:
|
||||
camera1_depth_optical_frame:
|
||||
{}
|
||||
camera2_link:
|
||||
camera2_color_frame:
|
||||
camera2_color_optical_frame:
|
||||
{}
|
||||
camera2_depth_frame:
|
||||
camera2_depth_optical_frame:
|
||||
{}
|
||||
camera_link:
|
||||
camera_color_frame:
|
||||
camera_color_optical_frame:
|
||||
{}
|
||||
camera_depth_frame:
|
||||
camera_depth_optical_frame:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rtabmap_rviz_plugins/MapCloud
|
||||
Cloud decimation: 4
|
||||
Cloud from scan: false
|
||||
Cloud max depth (m): 4
|
||||
Cloud min depth (m): 0
|
||||
Cloud voxel size (m): 0.009999999776482582
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Download graph: false
|
||||
Download map: false
|
||||
Download namespace: rtabmap
|
||||
Enabled: true
|
||||
Filter ceiling (m): 0
|
||||
Filter floor (m): 0
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: MapCloud
|
||||
Node filtering angle (degrees): 30
|
||||
Node filtering radius (m): 0
|
||||
Position Transformer: XYZ
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /rtabmap/mapData
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: false
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: Vorne Cloud
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /voxel_cloud1
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: false
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: Oben Cloud
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /voxel_cloud2
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: false
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: false
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: Unten Cloud
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /voxel_cloud3
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: false
|
||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: true
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Img Vorne
|
||||
Normalize Range: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera/color/image_rect_raw
|
||||
Value: true
|
||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: true
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Img Oben
|
||||
Normalize Range: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera1/color/image_rect_raw
|
||||
Value: true
|
||||
- Class: rviz_default_plugins/Image
|
||||
Enabled: true
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Img Unten
|
||||
Normalize Range: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /camera2/color/image_rect_raw
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz_default_plugins/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: RGB8
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 4096
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 0
|
||||
Name: Odom Local Map Vorne
|
||||
Position Transformer: XYZ
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Flat Squares
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
Filter size: 10
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /rtabmap/odom_local_map
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: map
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Covariance x: 0.25
|
||||
Covariance y: 0.25
|
||||
Covariance yaw: 0.06853891909122467
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
|
||||
- Class: rviz_default_plugins/SetGoal
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /goal_pose
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 14.454187393188477
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: -0.5812196135520935
|
||||
Y: 1.577770709991455
|
||||
Z: 0.7642305493354797
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.21979624032974243
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 1.493584394454956
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1163
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Img Oben:
|
||||
collapsed: false
|
||||
Img Unten:
|
||||
collapsed: false
|
||||
Img Vorne:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000018f000003edfc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001bf000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000120049006d006700200056006f00720065006e010000022e000000800000000000000000fb000000120049006d006700200056006f0072006e00650100000202000000930000002800fffffffb000000100049006d00670020004f00620065006e010000029b000000bb0000002800fffffffb000000120049006d006700200055006e00740065006e010000035c000000ce0000002800ffffff000000010000010f000003edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003ed000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004d6000003ed00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1920
|
||||
X: 1920
|
||||
Y: 0
|
||||
@@ -0,0 +1,144 @@
|
||||
# Program dedicated to launch 2 realsense cameras. D405 were tested!
|
||||
# (Please note that this program can manage maximum 4 depth cameras)
|
||||
|
||||
# Program modified by: Adrian Ricardez (https://github.com/adricort)
|
||||
# Date: 07.07.2023
|
||||
# Deutsches Zentrum für Luft- und Raumfahrt
|
||||
|
||||
# Requirements:
|
||||
|
||||
# Be sure that you did the build on your rtabmap workspace with the -DRTABMAP_SYNC_MULTI_RGBD=ON parameter.
|
||||
|
||||
# Launching the 2 realsense cameras (change your serial numbers):
|
||||
# $ ros2 launch realsense2_camera rs_multi_camera_launch.py pointcloud.enable1:=true pointcloud.enable2:=true filters:=colorizer align_depth:=true serial_no1:=_128422271521 serial_no2:=_128422272518
|
||||
|
||||
# Running the static publishers depending on the position of your cameras:
|
||||
# $ ros2 run tf2_ros static_transform_publisher --x 0.039 --y 0 --z 0 --yaw 0 --pitch 0 --roll 1.5708 --frame-id base_link --child-frame-id camera1_link
|
||||
# $ ros2 run tf2_ros static_transform_publisher --x -0 --y 0 --z 0.02 --yaw 1.5708 --pitch -1.5708 --roll 0 --frame-id base_link --child-frame-id camera2_link
|
||||
|
||||
# $ ros2 launch rtabmap_examples rtabmap_D405x2.launch.py
|
||||
|
||||
# You should be able to visualize now, with the right rviz config, the camera's SLAM
|
||||
# Have fun!
|
||||
|
||||
import os
|
||||
import launch
|
||||
import launch_ros
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
config_rviz = os.path.join(
|
||||
get_package_share_directory('rtabmap_examples'), 'launch', 'config', 'slam_D405x2_config.rviz')
|
||||
|
||||
rviz_node = launch_ros.actions.Node(
|
||||
package='rviz2', executable='rviz2', output='screen',
|
||||
arguments=[["-d"], [config_rviz]]
|
||||
)
|
||||
|
||||
rgbd_sync1_node = launch_ros.actions.Node(
|
||||
package='rtabmap_sync', executable='rgbd_sync', name='rgbd_sync1', output="screen",
|
||||
parameters=[{
|
||||
"approx_sync": False
|
||||
}],
|
||||
remappings=[
|
||||
("rgb/image", '/camera1/color/image_rect_raw'),
|
||||
("depth/image", '/camera1/depth/image_rect_raw'),
|
||||
("rgb/camera_info", '/camera1/color/camera_info'),
|
||||
("rgbd_image", 'rgbd_image')],
|
||||
namespace='realsense_camera1'
|
||||
)
|
||||
rgbd_sync2_node = launch_ros.actions.Node(
|
||||
package='rtabmap_sync', executable='rgbd_sync', name='rgbd_sync2', output="screen",
|
||||
parameters=[{
|
||||
"approx_sync": False
|
||||
}],
|
||||
remappings=[
|
||||
("rgb/image", '/camera2/color/image_rect_raw'),
|
||||
("depth/image", '/camera2/depth/image_rect_raw'),
|
||||
("rgb/camera_info", '/camera2/color/camera_info'),
|
||||
("rgbd_image", 'rgbd_image')],
|
||||
namespace='realsense_camera2'
|
||||
)
|
||||
|
||||
# RGB-D odometry
|
||||
rgbd_odometry_node = launch_ros.actions.Node(
|
||||
package='rtabmap_odom', executable='rgbd_odometry', output="screen",
|
||||
parameters=[{
|
||||
"frame_id": 'base_link',
|
||||
"odom_frame_id": 'odom',
|
||||
"publish_tf": True,
|
||||
"approx_sync": True,
|
||||
"subscribe_rgbd": True,
|
||||
}],
|
||||
remappings=[
|
||||
("rgbd_image", '/realsense_camera1/rgbd_image'),
|
||||
("odom", 'odom')],
|
||||
arguments=["--delete_db_on_start", ''],
|
||||
prefix='',
|
||||
namespace='rtabmap'
|
||||
)
|
||||
|
||||
# SLAM
|
||||
slam_node = launch_ros.actions.Node(
|
||||
package='rtabmap_slam', executable='rtabmap', output="screen",
|
||||
parameters=[{
|
||||
"rgbd_cameras":2,
|
||||
"subscribe_depth": True,
|
||||
"subscribe_rgbd": True,
|
||||
"subscribe_rgb": True,
|
||||
"subscribe_odom_info": True,
|
||||
"frame_id": 'base_link',
|
||||
"map_frame_id": 'map',
|
||||
"publish_tf": True,
|
||||
"database_path": '~/.ros/rtabmap.db',
|
||||
"approx_sync": True,
|
||||
"Mem/IncrementalMemory": "true",
|
||||
"Mem/InitWMWithAllNodes": "true"
|
||||
}],
|
||||
remappings=[
|
||||
("rgbd_image0", '/realsense_camera1/rgbd_image'),
|
||||
("rgbd_image1", '/realsense_camera2/rgbd_image'),
|
||||
("odom", 'odom')],
|
||||
arguments=["--delete_db_on_start"],
|
||||
prefix='',
|
||||
namespace='rtabmap'
|
||||
)
|
||||
|
||||
voxelcloud1_node = launch_ros.actions.Node(
|
||||
package='rtabmap_util', executable='point_cloud_xyzrgb', name='point_cloud_xyzrgb1', output='screen',
|
||||
parameters=[{
|
||||
"approx_sync": True,
|
||||
}],
|
||||
remappings=[
|
||||
('rgb/image', '/camera1/color/image_rect_raw'),
|
||||
('depth/image', '/camera1/depth/image_rect_raw'),
|
||||
('rgb/camera_info', '/camera1/color/camera_info'),
|
||||
('rgbd_image', 'rgbd_image'),
|
||||
('cloud', 'voxel_cloud1')]
|
||||
)
|
||||
|
||||
voxelcloud2_node = launch_ros.actions.Node(
|
||||
package='rtabmap_util', executable='point_cloud_xyzrgb', name='point_cloud_xyzrgb2', output='screen',
|
||||
parameters=[{
|
||||
"approx_sync": True,
|
||||
}],
|
||||
remappings=[
|
||||
('rgb/image', '/camera2/color/image_rect_raw'),
|
||||
('depth/image', '/camera2/depth/image_rect_raw'),
|
||||
('rgb/camera_info', '/camera2/color/camera_info'),
|
||||
('rgbd_image', 'rgbd_image'),
|
||||
('cloud', 'voxel_cloud2')]
|
||||
)
|
||||
|
||||
return launch.LaunchDescription(
|
||||
[
|
||||
rviz_node,
|
||||
rgbd_sync1_node,
|
||||
rgbd_sync2_node,
|
||||
rgbd_odometry_node,
|
||||
slam_node,
|
||||
voxelcloud1_node,
|
||||
voxelcloud2_node
|
||||
]
|
||||
)
|
||||
@@ -0,0 +1,173 @@
|
||||
# Program dedicated to launch 3 realsense cameras. D405 were tested!
|
||||
# (Please note that this program can manage maximum 4 depth cameras)
|
||||
|
||||
# Program modified by: Adrian Ricardez (https://github.com/adricort)
|
||||
# Date: 07.07.2023
|
||||
# Deutsches Zentrum für Luft- und Raumfahrt
|
||||
|
||||
# Requirements:
|
||||
|
||||
# Be sure that you did the build on your rtabmap workspace with the -DRTABMAP_SYNC_MULTI_RGBD=ON parameter.
|
||||
|
||||
# Launching the 3 realsense cameras (change your serial numbers):
|
||||
# $ ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true serial_no:=_128422271521
|
||||
# $ ros2 launch realsense2_camera rs_multi_camera_launch.py pointcloud.enable1:=true pointcloud.enable2:=true serial_no1:=_128422272518 serial_no2:=_128422272647
|
||||
|
||||
# Running the static publishers depending on the position of your cameras:
|
||||
# $ ros2 run tf2_ros static_transform_publisher --x 0.039 --y 0 --z 0 --yaw 0 --pitch 0 --roll 0 --frame-id base_link --child-frame-id camera_link
|
||||
# $ ros2 run tf2_ros static_transform_publisher --x 0 --y 0 --z 0.02 --yaw 1.5708 --pitch -1.5708 --roll 0 --frame-id base_link --child-frame-id camera1_link
|
||||
# $ ros2 run tf2_ros static_transform_publisher --x 0 --y 0 --z -0.02 --yaw 1.5708 --pitch 1.5708 --roll 0 --frame-id base_link --child-frame-id camera2_link
|
||||
|
||||
# $ ros2 launch rtabmap_examples rtabmap_D405x3.launch.py
|
||||
|
||||
# You should be able to visualize now, with the right rviz config, the camera's SLAM
|
||||
# Have fun!
|
||||
|
||||
import os
|
||||
import launch
|
||||
import launch_ros
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
config_rviz = os.path.join(
|
||||
get_package_share_directory('rtabmap_examples'), 'launch', 'config', 'slam_D405x3_config.rviz')
|
||||
|
||||
rviz_node = launch_ros.actions.Node(
|
||||
package='rviz2', executable='rviz2', output='screen',
|
||||
arguments=[["-d"], [config_rviz]]
|
||||
)
|
||||
|
||||
rgbd_sync1_node = launch_ros.actions.Node(
|
||||
package='rtabmap_sync', executable='rgbd_sync', name='rgbd_sync1', output="screen",
|
||||
parameters=[{
|
||||
"approx_sync": False
|
||||
}],
|
||||
remappings=[
|
||||
("rgb/image", '/camera/color/image_rect_raw'),
|
||||
("depth/image", '/camera/depth/image_rect_raw'),
|
||||
("rgb/camera_info", '/camera/color/camera_info'),
|
||||
("rgbd_image", 'rgbd_image')],
|
||||
namespace='realsense_camera1'
|
||||
)
|
||||
rgbd_sync2_node = launch_ros.actions.Node(
|
||||
package='rtabmap_sync', executable='rgbd_sync', name='rgbd_sync2', output="screen",
|
||||
parameters=[{
|
||||
"approx_sync": False
|
||||
}],
|
||||
remappings=[
|
||||
("rgb/image", '/camera1/color/image_rect_raw'),
|
||||
("depth/image", '/camera1/depth/image_rect_raw'),
|
||||
("rgb/camera_info", '/camera1/color/camera_info'),
|
||||
("rgbd_image", 'rgbd_image')],
|
||||
namespace='realsense_camera2'
|
||||
)
|
||||
rgbd_sync3_node = launch_ros.actions.Node(
|
||||
package='rtabmap_sync', executable='rgbd_sync', name='rgbd_sync3', output="screen",
|
||||
parameters=[{
|
||||
"approx_sync": False
|
||||
}],
|
||||
remappings=[
|
||||
("rgb/image", '/camera2/color/image_rect_raw'),
|
||||
("depth/image", '/camera2/depth/image_rect_raw'),
|
||||
("rgb/camera_info", '/camera2/color/camera_info'),
|
||||
("rgbd_image", 'rgbd_image')],
|
||||
namespace='realsense_camera3'
|
||||
)
|
||||
|
||||
# RGB-D odometry
|
||||
rgbd_odometry_node = launch_ros.actions.Node(
|
||||
package='rtabmap_odom', executable='rgbd_odometry', output="screen",
|
||||
parameters=[{
|
||||
"frame_id": 'base_link',
|
||||
"odom_frame_id": 'odom',
|
||||
"publish_tf": True,
|
||||
"approx_sync": True,
|
||||
"subscribe_rgbd": True,
|
||||
}],
|
||||
remappings=[
|
||||
("rgbd_image", '/realsense_camera1/rgbd_image'),
|
||||
("odom", 'odom')],
|
||||
arguments=["--delete_db_on_start", ''],
|
||||
prefix='',
|
||||
namespace='rtabmap'
|
||||
)
|
||||
|
||||
# SLAM
|
||||
slam_node = launch_ros.actions.Node(
|
||||
package='rtabmap_slam', executable='rtabmap', output="screen",
|
||||
parameters=[{
|
||||
"rgbd_cameras":3,
|
||||
"subscribe_depth": True,
|
||||
"subscribe_rgbd": True,
|
||||
"subscribe_rgb": True,
|
||||
"subscribe_odom_info": True,
|
||||
"frame_id": 'base_link',
|
||||
"map_frame_id": 'map',
|
||||
"publish_tf": True,
|
||||
"database_path": '~/.ros/rtabmap.db',
|
||||
"approx_sync": True,
|
||||
"Mem/IncrementalMemory": "true",
|
||||
"Mem/InitWMWithAllNodes": "true"
|
||||
}],
|
||||
remappings=[
|
||||
("rgbd_image0", '/realsense_camera1/rgbd_image'),
|
||||
("rgbd_image1", '/realsense_camera2/rgbd_image'),
|
||||
("rgbd_image2", '/realsense_camera3/rgbd_image'),
|
||||
("odom", 'odom')],
|
||||
arguments=["--delete_db_on_start"],
|
||||
prefix='',
|
||||
namespace='rtabmap'
|
||||
)
|
||||
|
||||
voxelcloud1_node = launch_ros.actions.Node(
|
||||
package='rtabmap_util', executable='point_cloud_xyzrgb', name='point_cloud_xyzrgb1', output='screen',
|
||||
parameters=[{
|
||||
"approx_sync": True,
|
||||
}],
|
||||
remappings=[
|
||||
('rgb/image', '/camera/color/image_rect_raw'),
|
||||
('depth/image', '/camera/depth/image_rect_raw'),
|
||||
('rgb/camera_info', '/camera/color/camera_info'),
|
||||
('rgbd_image', 'rgbd_image'),
|
||||
('cloud', 'voxel_cloud1')]
|
||||
)
|
||||
|
||||
voxelcloud2_node = launch_ros.actions.Node(
|
||||
package='rtabmap_util', executable='point_cloud_xyzrgb', name='point_cloud_xyzrgb2', output='screen',
|
||||
parameters=[{
|
||||
"approx_sync": True,
|
||||
}],
|
||||
remappings=[
|
||||
('rgb/image', '/camera1/color/image_rect_raw'),
|
||||
('depth/image', '/camera1/depth/image_rect_raw'),
|
||||
('rgb/camera_info', '/camera1/color/camera_info'),
|
||||
('rgbd_image', 'rgbd_image'),
|
||||
('cloud', 'voxel_cloud2')]
|
||||
)
|
||||
voxelcloud3_node = launch_ros.actions.Node(
|
||||
package='rtabmap_util', executable='point_cloud_xyzrgb', name='point_cloud_xyzrgb3', output='screen',
|
||||
parameters=[{
|
||||
"approx_sync": True,
|
||||
}],
|
||||
remappings=[
|
||||
('rgb/image', '/camera2/color/image_rect_raw'),
|
||||
('depth/image', '/camera2/depth/image_rect_raw'),
|
||||
('rgb/camera_info', '/camera2/color/camera_info'),
|
||||
('rgbd_image', 'rgbd_image'),
|
||||
('cloud', 'voxel_cloud3')]
|
||||
)
|
||||
|
||||
return launch.LaunchDescription(
|
||||
[
|
||||
rviz_node,
|
||||
rgbd_sync1_node,
|
||||
rgbd_sync2_node,
|
||||
rgbd_sync3_node,
|
||||
rgbd_odometry_node,
|
||||
slam_node,
|
||||
voxelcloud1_node,
|
||||
voxelcloud2_node,
|
||||
voxelcloud3_node,
|
||||
]
|
||||
)
|
||||
Reference in New Issue
Block a user