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Added rtabmap_ros/RGBDImage and rtabmap_ros/UserData topics. Refactored input messages synchronization of rtabmap and rtabmapviz nodes. "depth_cameras" parameter is replaced with "rgbd_cameras" parameter. Multiple camera is handled through rtabmap_ros/RGBDImage input topics (same for rgbd_odometry node).

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matlabbe
2016-09-26 16:37:31 -04:00
parent 3b6daf7189
commit babb8c8509
24 changed files with 2942 additions and 2920 deletions
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launch/demo/demo_two_kinects.launch
+31 -48
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@@ -1,7 +1,7 @@
<launch>
<!-- Multi-cameras demo with 2 Kinects -->
<!-- Multi-cameras demo with 2 Kinects -->
<!-- Cameras -->
<include file="$(find freenect_launch)/launch/freenect.launch">
@@ -46,21 +46,32 @@
<arg name="local_map" default="1000" />
<arg name="odom_info_data" default="true" />
<arg name="wait_for_transform" default="true" />
<!-- sync rgb/depth images per camera -->
<group ns="camera1">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera1_nodelet_manager">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
</node>
</group>
<group ns="camera2">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera2_nodelet_manager">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
</node>
</group>
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgb0/image" to="/camera1/rgb/image_rect_color"/>
<remap from="depth0/image" to="/camera1/depth_registered/image_raw"/>
<remap from="rgb0/camera_info" to="/camera1/rgb/camera_info"/>
<remap from="rgb1/image" to="/camera2/rgb/image_rect_color"/>
<remap from="depth1/image" to="/camera2/depth_registered/image_raw"/>
<remap from="rgb1/camera_info" to="/camera2/rgb/camera_info"/>
<remap from="rgbd_image0" to="/camera1/rgbd_image"/>
<remap from="rgbd_image1" to="/camera2/rgbd_image"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="depth_cameras" type="int" value="2"/>
<param name="rgbd_cameras" type="int" value="2"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
@@ -75,65 +86,37 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="depth_cameras" type="int" value="2"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="rgbd_cameras" type="int" value="2"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="gen_scan" type="bool" value="true"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<remap from="rgb0/image" to="/camera1/rgb/image_rect_color"/>
<remap from="depth0/image" to="/camera1/depth_registered/image_raw"/>
<remap from="rgb0/camera_info" to="/camera1/rgb/camera_info"/>
<remap from="rgb1/image" to="/camera2/rgb/image_rect_color"/>
<remap from="depth1/image" to="/camera2/depth_registered/image_raw"/>
<remap from="rgb1/camera_info" to="/camera2/rgb/camera_info"/>
<remap from="rgbd_image0" to="/camera1/rgbd_image"/>
<remap from="rgbd_image1" to="/camera2/rgbd_image"/>
<param name="Grid/FromDepth" type="string" value="false"/>
<param name="Vis/MinInliers" type="string" value="10"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="depth_cameras" type="int" value="2"/>
<param name="rgbd_cameras" type="int" value="2"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<remap from="rgb0/image" to="/camera1/rgb/image_rect_color"/>
<remap from="depth0/image" to="/camera1/depth_registered/image_raw"/>
<remap from="rgb0/camera_info" to="/camera1/rgb/camera_info"/>
<remap from="rgb1/image" to="/camera2/rgb/image_rect_color"/>
<remap from="depth1/image" to="/camera2/depth_registered/image_raw"/>
<remap from="rgb1/camera_info" to="/camera2/rgb/camera_info"/>
<remap from="rgbd_image0" to="/camera1/rgbd_image"/>
<remap from="rgbd_image1" to="/camera2/rgbd_image"/>
</node>
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="camera1/rgb/image_rect_color"/>
<remap from="depth/image_in" to="camera1/depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="camera1/rgb/camera_info"/>
<remap from="odom_in" to="rtabmap/odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
<remap from="odom_out" to="odom_sync"/>
</node>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_odom_sync/image"/>
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="voxel_size" type="double" value="0.01"/>
</node>
</launch>