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rtabmap node publishes now directly /rtabmap/cloud_map, /rtabmap/proj_map and /rtabmap/grid_map (added all related rosparam), update grid_map_assembler node with the new efficient way of creating map

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This commit is contained in:
Mathieu Labbe
2015-02-11 17:09:29 -05:00
parent 766f84028f
commit c139c263db
10 changed files with 682 additions and 170 deletions
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launch/demo/demo_find_object.launch
+2 -11
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@@ -20,12 +20,12 @@
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<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"/>
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/PoseScanMatching" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
@@ -50,15 +50,6 @@
<param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
-->
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData"/>
</node>
<!-- just to re-use azimut3.rviz config below -->
<node name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
<!-- Visualisation -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_find_object.rviz" output="screen"/>
launch/demo/demo_hector_mapping.launch
-5
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@@ -67,11 +67,6 @@
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
</node>
<!-- Grid map assembler for rviz -->
<node if="$(arg rviz)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
<param name="unknown_space_filled" type="bool" value="false"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
launch/demo/demo_multi-session_mapping.launch
-5
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@@ -70,11 +70,6 @@
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
<!-- Grid map assembler for rviz -->
<node if="$(arg rviz)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
<param name="unknown_space_filled" type="bool" value="false"/>
</node>
</group>
<!-- Visualisation RVIZ -->
launch/demo/demo_robot_localization.launch
-5
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@@ -47,11 +47,6 @@
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
</node>
<!-- Grid map assembler for rviz -->
<node if="$(arg rviz)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
<param name="unknown_space_filled" type="bool" value="false"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
launch/demo/demo_robot_mapping.launch
-5
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@@ -42,11 +42,6 @@
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
</node>
<!-- Grid map assembler for rviz -->
<node if="$(arg rviz)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
<param name="unknown_space_filled" type="bool" value="false"/>
</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"/>