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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/tests/test_rgbd_image.launch
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<launch>
<arg name="compressed" default="false"/>
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_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>
<!-- Nodes -->
<group ns="rtabmap">
<!-- RGB-D Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="Odom/AlignWithGround" type="string" value="true"/>
<param name="frame_id" type="string" value="camera_link"/>
</node>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="frame_id" type="string" value="camera_link"/>
<remap if="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image/compressed"/>
<remap unless="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image"/>
</node>
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="frame_id" type="string" value="camera_link"/>
<remap if="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image/compressed"/>
<remap unless="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
</node>
</group>
</launch>