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switch rtabmap_lib svn co from the 0.3 branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@110 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-20 16:49:22 +00:00
commit b4add8dbe8
49 changed files with 2494 additions and 0 deletions
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rtabmap/launch/all_learning.launch
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<launch>
<!-- TELEOP -->
<include file="$(find rtabmap)/launch/teleop.launch"/>
<!-- RTAB-MAP -->
<include file="$(find rtabmap)/launch/rtabmap_sm.launch"/>
<!-- CAMERA -->
<include file="$(find rtabmap)/launch/camera.launch"/>
</launch>
rtabmap/launch/all_tr_learning.launch
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<launch>
<!-- BRING UP TELEROBOT -->
<!-- BUS CAN MANAGER -->
<group ns="tr">
<param name="driver_type" value="TRCANDriver"/>
<node name="can_manager" type="can_manager" pkg="can_manager"
args="tr">
<remap from="/tr/tr/cmd_vel" to="/cmd_vel" />
</node>
</group>
<!-- TELEOP -->
<include file="$(find rtabmap)/launch/teleop.launch"/>
<!-- RTAB-MAP -->
<include file="$(find rtabmap)/launch/rtabmap_sm.launch"/>
<!-- CAMERA -->
<node pkg="omni_camera_capture" type="omni_publisher"
name="omni_camera" respawn="false">
<param name="device" value="/dev/video0"/>
<param name="refresh_rate" value="2"/>
<param name="frame_id" value="omni_camera_link" />
<param name="image_encoding" value="RGB" /> <!-- GREY or RGB-->
<param name="image_size" value="FULL" /> <!-- PARTIAL or FULL -->
<param name="scale_divisor" value="1" /> <!-- 1, 2, 3, 4 or 6 in PARTIAL size-->
</node>
</launch>
rtabmap/launch/camera.launch
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<launch>
<!-- Camera parameters -->
<param name="cam/device_id" value="0" type="int"/>
<param name="cam/image_rate" value="1" type="int"/>
<param name="cam/image_width" value="640" type="int"/>
<param name="cam/image_height" value="480" type="int"/>
<!-- Nodes -->
<node name="camera" pkg="rtabmap" type="camera_node"/>
</launch>
rtabmap/launch/rtabmap_lc.launch
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<launch>
<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
<!-- Camera parameters -->
<param name="device_id" value="0" type="int"/>
<param name="image_rate" value="1" type="int"/>
<param name="image_width" value="640" type="int"/>
<param name="image_height" value="480" type="int"/>
<!-- Nodes -->
<node name="rtabmap_core" pkg="rtabmap" type="core_node"/>
<node name="rtabmap_gui" pkg="rtabmap" type="gui_node"/>
<node name="image_to_sms" pkg="rtabmap" type="image_to_sms_node"/>
<node name="camera" pkg="rtabmap" type="camera_node"/>
</launch>
rtabmap/launch/rtabmap_sm.launch
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<launch>
<!-- RTAB-MAP SENSORY-MOTOR VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- image_to_sm parameters -->
<param name="resize_image_width" value="640" type="int"/>
<param name="resize_image_height" value="480" type="int"/>
<!-- Nodes -->
<!-- cmd_vel_a has priority on cmd_vel_b -->
<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity_node">
<remap from="cmd_vel_a" to="user/cmd_vel" />
<remap from="cmd_vel_b" to="rtabmap/cmd_vel" />
<remap from="cmd_vel" to="cmd_vel" />
</node>
<node name="rtabmap_output" pkg="rtabmap" type="output_node">
<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
<remap from="rtabmap_info" to="rtabmap_info" />
<remap from="rtabmap_info_x" to="rtabmap_info_x" />
</node>
<node name="rtabmap_core" pkg="rtabmap" type="core_node" output="screen" args="--delete_db_on_start">
<remap from="sm_state" to="sm_state" />
<remap from="rtabmap_info" to="rtabmap_info" />
<remap from="rtabmap_info_x" to="rtabmap_info_x" />
</node>
<node name="rtabmap_input" pkg="rtabmap" type="input_node">
<remap from="cmd_vel" to="cmd_vel" />
<remap from="sm_state" to="sm_state" />
<remap from="camera_data" to="camera_data" />
</node>
<node name="image_to_sms" pkg="rtabmap" type="image_to_sms_node">
<remap from="image" to="image" />
<remap from="sm_state" to="camera_data" />
</node>
</launch>
rtabmap/launch/teleop.launch
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<launch>
<!-- TELEOP JOYSTICK -->
<node name="teleop_pr2" pkg="pr2_teleop" type="teleop_pr2" args="--deadman_no_publish">
<remap from="cmd_vel" to="user/cmd_vel" />
</node>
<node name="joystick" pkg="joy" type="joy_node">
<param name="autorepeat_rate" value="20" type="double" />
</node>
</launch>
rtabmap/launch/testCamera.launch
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<launch>
<!-- Camera parameters -->
<param name="cam/device_id" value="0" type="int"/>
<param name="cam/image_rate" value="10" type="int"/>
<param name="cam/image_width" value="640" type="int"/>
<param name="cam/image_height" value="480" type="int"/>
<!-- Nodes -->
<node name="cameraReceiver" pkg="rtabmap" type="camera_node_receiver" output="screen"/>
<node name="camera" pkg="rtabmap" type="camera_node"/>
</launch>