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Updated hector demo to fix assert on wrong covariance

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matlabbe
2018-09-18 18:46:26 -04:00
parent 4e3b577206
commit b60fc76898
1 changed files with 28 additions and 20 deletions
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launch/demo/demo_hector_mapping.launch
+28 -20
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@@ -48,8 +48,8 @@
<!-- If argument "hector" is false, we use rtabmap's icp odometry to generate odometry for us --> <!-- If argument "hector" is false, we use rtabmap's icp odometry to generate odometry for us -->
<node unless="$(arg hector)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen" > <node unless="$(arg hector)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen" >
<remap from="scan" to="/jn0/base_scan"/> <remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/scanmatch_odom"/> <remap from="odom" to="/scanmatch_odom"/>
<remap from="odom_info" to="/rtabmap/odom_info"/> <remap from="odom_info" to="/rtabmap/odom_info"/>
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
@@ -71,44 +71,52 @@
<!-- SLAM (robot side) --> <!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" --> <!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/> <param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/scanmatch_odom"/> <remap from="scan" to="/jn0/base_scan"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="rgb/image" to="/data_throttled_image"/> <remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/> <remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/> <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/> <param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/> <param name="depth/image_transport" type="string" value="compressedDepth"/>
<!-- As hector doesn't provide compatible covariance in the odometry topic, don't use the topic and fix the covariance -->
<param if="$(arg hector)" name="odom_frame_id" type="string" value="hector_map"/>
<param if="$(arg hector)" name="odom_tf_linear_variance" type="double" value="0.0005"/>
<param if="$(arg hector)" name="odom_tf_angular_variance" type="double" value="0.0005"/>
<remap unless="$(arg hector)" from="odom" to="/scanmatch_odom"/>
<param unless="$(arg hector)" name="subscribe_odom_info" type="bool" value="true"/>
<!-- RTAB-Map's parameters --> <!-- RTAB-Map's parameters -->
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP --> <param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Vis/MaxDepth" type="string" value="10.0"/> <!-- 3D visual words maximum depth 0=infinity --> <param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance --> <param name="RGBD/ProximityBySpace" type="string" value="false"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="RGBD/ProximityBySpace" type="string" value="false"/>
</node> </node>
<!-- Visualisation RTAB-Map --> <!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen"> <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/> <param name="subscribe_laserScan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<param unless="$(arg hector)" name="subscribe_odom_info" type="bool" value="true"/>
<remap from="rgb/image" to="/data_throttled_image"/> <remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/> <remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/> <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<remap from="scan" to="/jn0/base_scan"/> <remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/scanmatch_odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/> <param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/> <param name="depth/image_transport" type="string" value="compressedDepth"/>
<!-- As hector doesn't provide compatible covariance in the odometry topic, don't use the topic and fix the covariance -->
<param if="$(arg hector)" name="odom_frame_id" type="string" value="hector_map"/>
<remap unless="$(arg hector)" from="odom" to="/scanmatch_odom"/>
<param unless="$(arg hector)" name="subscribe_odom_info" type="bool" value="true"/>
</node> </node>
</group> </group>