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ros-pkg: updated demo_robot_mapping.launch and demo_robot_mapping_rviz.launch to show always the global map

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1998 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-14 15:49:36 +00:00
parent 2e1e97247b
commit b468d9ed2d
3 changed files with 418 additions and 2 deletions
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launch/demo/demo_robot_mapping.launch
+8
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@@ -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"/>
launch/demo/demo_robot_mapping_rviz.launch
+7 -2
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@@ -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">