From b468d9ed2d8caebe3176b63032b9cdcf6e23655b Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Fri, 14 Nov 2014 15:49:36 +0000
Subject: [PATCH] ros-pkg: updated demo_robot_mapping.launch and
 demo_robot_mapping_rviz.launch to show always the global map

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1998 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/config/demo_robot_mapping.rviz      | 403 +++++++++++++++++++++
 launch/demo/demo_robot_mapping.launch      |   8 +
 launch/demo/demo_robot_mapping_rviz.launch |   9 +-
 3 files changed, 418 insertions(+), 2 deletions(-)
 create mode 100644 launch/config/demo_robot_mapping.rviz

diff --git a/launch/config/demo_robot_mapping.rviz b/launch/config/demo_robot_mapping.rviz
new file mode 100644
index 00000000..c4b34185
--- /dev/null
+++ b/launch/config/demo_robot_mapping.rviz
@@ -0,0 +1,403 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+      Splitter Ratio: 0.411058
+    Tree Height: 422
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: map
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.02684
+        Min Value: -1.12646
+        Value: true
+      Axis: Z
+      Channel Name: rgb
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 2.34177e-38
+      Min Color: 0; 0; 0
+      Min Intensity: 9.21942e-41
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /voxel_cloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 8.34969
+        Min Value: -0.777029
+        Value: true
+      Axis: X
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      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: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /jn0/base_scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        L_forearm_link:
+          Value: true
+        L_frame_tool_link:
+          Value: true
+        L_gripper_up_link:
+          Value: true
+        L_shoulder_fixed_link:
+          Value: true
+        L_shoulder_pan_link:
+          Value: true
+        L_shoulder_tilt_link:
+          Value: true
+        L_upper_arm_link:
+          Value: true
+        R_forearm_link:
+          Value: true
+        R_frame_tool_link:
+          Value: true
+        R_gripper_up_link:
+          Value: true
+        R_shoulder_fixed_link:
+          Value: true
+        R_shoulder_pan_link:
+          Value: true
+        R_shoulder_tilt_link:
+          Value: true
+        R_upper_arm_link:
+          Value: true
+        base_footprint:
+          Value: true
+        base_laser_link:
+          Value: true
+        base_link:
+          Value: true
+        head_l_eye_eyebrow_link:
+          Value: true
+        head_l_eye_link:
+          Value: true
+        head_l_eye_pupil_link:
+          Value: true
+        head_link:
+          Value: true
+        head_r_eye_eyebrow_link:
+          Value: true
+        head_r_eye_link:
+          Value: true
+        head_r_eye_pupil_link:
+          Value: true
+        map:
+          Value: true
+        neck_bracket_link:
+          Value: true
+        neck_pan_link:
+          Value: true
+        neck_tilt_link:
+          Value: true
+        neck_top_frame:
+          Value: true
+        odom:
+          Value: true
+        openni_base_link:
+          Value: true
+        openni_camera_link:
+          Value: true
+        openni_depth_frame:
+          Value: true
+        openni_depth_optical_frame:
+          Value: true
+        openni_rgb_frame:
+          Value: true
+        openni_rgb_optical_frame:
+          Value: true
+        torso_imu_link:
+          Value: true
+        torso_link:
+          Value: true
+        torso_stand_link:
+          Value: true
+        torso_top_frame:
+          Value: true
+        wheelLB_linkWheel_link:
+          Value: true
+        wheelLB_wheel_link:
+          Value: true
+        wheelLF_linkWheel_link:
+          Value: true
+        wheelLF_wheel_link:
+          Value: true
+        wheelRB_linkWheel_link:
+          Value: true
+        wheelRB_wheel_link:
+          Value: true
+        wheelRF_linkWheel_link:
+          Value: true
+        wheelRF_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                base_laser_link:
+                  {}
+                torso_link:
+                  L_shoulder_fixed_link:
+                    L_shoulder_pan_link:
+                      L_shoulder_tilt_link:
+                        L_upper_arm_link:
+                          L_forearm_link:
+                            L_frame_tool_link:
+                              {}
+                            L_gripper_up_link:
+                              {}
+                  R_shoulder_fixed_link:
+                    R_shoulder_pan_link:
+                      R_shoulder_tilt_link:
+                        R_upper_arm_link:
+                          R_forearm_link:
+                            R_frame_tool_link:
+                              {}
+                            R_gripper_up_link:
+                              {}
+                  torso_top_frame:
+                    neck_pan_link:
+                      neck_tilt_link:
+                        neck_bracket_link:
+                          neck_top_frame:
+                            head_link:
+                              head_l_eye_link:
+                                head_l_eye_eyebrow_link:
+                                  {}
+                                head_l_eye_pupil_link:
+                                  {}
+                              head_r_eye_link:
+                                head_r_eye_eyebrow_link:
+                                  {}
+                                head_r_eye_pupil_link:
+                                  {}
+                              openni_base_link:
+                                openni_camera_link:
+                                  openni_depth_frame:
+                                    openni_depth_optical_frame:
+                                      {}
+                                    openni_rgb_frame:
+                                      openni_rgb_optical_frame:
+                                        {}
+                    torso_imu_link:
+                      {}
+                torso_stand_link:
+                  {}
+                wheelLB_linkWheel_link:
+                  wheelLB_wheel_link:
+                    {}
+                wheelLF_linkWheel_link:
+                  wheelLF_wheel_link:
+                    {}
+                wheelRB_linkWheel_link:
+                  wheelRB_wheel_link:
+                    {}
+                wheelRF_linkWheel_link:
+                  wheelRF_wheel_link:
+                    {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /data_throttled_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: compressed
+      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/MapCloud
+      Cloud decimation: 8
+      Cloud max depth (m): 4
+      Cloud voxel size (m): 0.01
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Download graph: false
+      Download map: false
+      Enabled: true
+      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): 0.1
+      Position Transformer: XYZ
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /rtabmap/mapData_optimized
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Class: rtabmap/MapGraph
+      Color: 25; 255; 0
+      Enabled: true
+      Name: MapGraph
+      Topic: /rtabmap/mapData_optimized
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /rtabmap/grid_map
+      Value: true
+    - Class: rtabmap/Info
+      Enabled: true
+      Name: Info
+      Topic: /rtabmap/info
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 9.93954
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.0336609
+        Y: 0.112555
+        Z: -0.719693
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.809796
+      Target Frame: base_link
+      Value: Orbit (rviz)
+      Yaw: 3.82418
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 824
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001530000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003a00000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1273
+  X: 257
+  Y: 86
diff --git a/launch/demo/demo_robot_mapping.launch b/launch/demo/demo_robot_mapping.launch
index eb705c5d..409c622f 100644
--- a/launch/demo/demo_robot_mapping.launch
+++ b/launch/demo/demo_robot_mapping.launch
@@ -35,7 +35,14 @@
 	<param name="LccIcp/Type" type="string" value="2"/>                      <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
 	<param name="LccBow/MaxDepth" type="string" value="0.0"/>                <!-- 3D visual words maximum depth 0=infinity -->
 	<param name="LccBow/InlierDistance" type="string" value="0.1"/>          <!-- 3D visual words correspondence distance -->
+    <param name="RGBD/ToroIterations" type="string" value="0"/>
   </node>
+    
+    <!-- Grid map assembler for rviz -->
+    <node pkg="rtabmap" type="map_optimizer" name="map_optimizer" output="screen"/>
+    <node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
+    	<remap from="mapData" to="mapData_optimized"/>
+    </node>
   
   <!-- Visualisation (client side) -->
   <node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
@@ -49,6 +56,7 @@
       <remap from="rgb/camera_info" to="data_throttled_camera_info"/>
       <remap from="scan" to="/jn0/base_scan"/>
       <remap from="odom" to="/az3/base_controller/odom"/>
+      <remap from="mapData" to="mapData_optimized"/>
       
       <param name="rgb/image_transport" type="string" value="compressed"/>
       <param name="depth/image_transport" type="string" value="compressedDepth"/>
diff --git a/launch/demo/demo_robot_mapping_rviz.launch b/launch/demo/demo_robot_mapping_rviz.launch
index 4f46468a..7e2e70b5 100644
--- a/launch/demo/demo_robot_mapping_rviz.launch
+++ b/launch/demo/demo_robot_mapping_rviz.launch
@@ -37,15 +37,20 @@
 	  <param name="LccBow/MaxDepth" type="string" value="0.0"/>                <!-- 3D visual words maximum depth 0=infinity -->
 	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>          <!-- 3D visual words correspondence distance -->
       <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
+      <param name="RGBD/ToroIterations" type="string" value="0"/>
     </node>
     
     <!-- Grid map assembler for rviz -->
-    <node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
+    <node pkg="rtabmap" type="map_optimizer" name="map_optimizer" output="screen"/>
+    <node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
+    	<remap from="mapData" to="mapData_optimized"/>
+    	<param name="unknown_space_filled" type="bool" value="false"/>
+    </node>
   </group>
   
   <!-- Visualisation -->
       
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz" output="screen"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/demo_robot_mapping.rviz" output="screen"/>
   
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
    <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">