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MERGE branch STM 325:449 into trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-03-03 01:46:30 +00:00
parent 06eb9a2424
commit c26a61f0c5
42 changed files with 1023 additions and 425 deletions
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rtabmap/launch/all_learning.launch
-12
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@@ -1,12 +0,0 @@
<launch>
<!-- TELEOP -->
<include file="$(find rtabmap)/launch/teleop.launch"/>
<!-- RTAB-MAP -->
<include file="$(find rtabmap)/launch/rtabmap_sm.launch"/>
<!-- CAMERA -->
<include file="$(find rtabmap)/launch/camera.launch"/>
</launch>
rtabmap/launch/all_tr_learning_omni.launch
-22
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@@ -1,22 +0,0 @@
<launch>
<!-- BRING UP TELEROBOT -->
<!-- BUS CAN MANAGER -->
<group ns="tr">
<param name="driver_type" value="TRCANDriver"/>
<node name="can_manager" type="can_manager" pkg="can_manager"
args="tr">
<remap from="/tr/tr/cmd_vel" to="/cmd_vel" />
</node>
</group>
<!-- TELEOP -->
<include file="$(find rtabmap)/launch/teleop.launch"/>
<!-- RTAB-MAP -->
<include file="$(find rtabmap)/launch/rtabmap_sm.launch"/>
<!-- CAMERA -->
<include file="$(find rtabmap)/launch/cameraOmni.launch"/>
</launch>
rtabmap/launch/az2_learning.launch
+62
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@@ -0,0 +1,62 @@
<launch>
<!-- BRING UP AZIMUT2 -->
<include file="$(find az2_bringup)/az2_base_controller.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>
<!-- RTAB-MAP SENSORY-MOTOR VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- cmd_vel_a has priority on cmd_vel_b -->
<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity">
<param name="commands_hz" value="10.0" type="double"/>
<param name="cmd_vel_a_buffered" value="false" type="bool"/>
<param name="cmd_vel_b_buffered" value="true" type="bool"/>
<param name="stats_logged" value="true" type="bool"/>
<remap from="cmd_vel_a" to="user/cmd_vel" />
<remap from="cmd_vel_b" to="rtabmap/cmd_vel" />
<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
</node>
<node name="rtabmap_out" pkg="rtabmap" type="rtabmap_out">
<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="twist_to_poses" pkg="rtabmap" type="twist_to_poses">
<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
</node>
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" 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_in" pkg="rtabmap" type="rtabmap_in">
<param name="nb_commands" value="2" type="int"/>
<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
<remap from="sm_state" to="sm_state" />
<remap from="sensor_data" to="sensor_data" />
</node>
<node name="image_to_sms" pkg="rtabmap" type="image_to_sms">
<param name="image_hz" value="5.0" type="double"/>
<param name="resize_image_width" value="80" type="int"/>
<param name="resize_image_height" value="60" type="int"/>
<param name="keypoints_extracted" value="0" type="int"/>
<remap from="image" to="camera/image" />
<remap from="sm_state" to="sensor_data" />
</node>
</launch>
rtabmap/launch/az2_teleop.launch
+14
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@@ -0,0 +1,14 @@
<launch>
<!-- BRING UP AZIMUT2 -->
<include file="$(find az2_bringup)/az2_base_controller.launch"/>
<!-- TELEOP JOYSTICK -->
<node name="teleop_pr2" pkg="pr2_teleop" type="teleop_pr2" args="--deadman_no_publish">
<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
</node>
<node name="joystick" pkg="joy" type="joy_node">
<param name="autorepeat_rate" value="20" type="double" />
</node>
</launch>
rtabmap/launch/az3_learning.launch
+62
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@@ -0,0 +1,62 @@
<launch>
<!-- BRING UP AZIMUT3 -->
<include file="$(find az3_bringup)/az3_base_controller.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>
<!-- RTAB-MAP SENSORY-MOTOR VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- cmd_vel_a has priority on cmd_vel_b -->
<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity">
<param name="commands_hz" value="10.0" type="double"/>
<param name="cmd_vel_a_buffered" value="false" type="bool"/>
<remap from="cmd_vel_a" to="user/cmd_vel" />
<remap from="cmd_vel_b" to="rtabmap/cmd_vel" />
<remap from="cmd_vel" to="az3/base_controller/cmd_vel" />
</node>
<node name="rtabmap_out" pkg="rtabmap" type="rtabmap_out">
<param name="commands_hz" value="10.0" type="double"/>
<param name="idle_null_commands_sent" value="false" type="bool"/>
<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="twist_to_poses" pkg="rtabmap" type="twist_to_poses">
<remap from="cmd_vel" to="az3/base_controller/cmd_vel" />
</node>
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" 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_in" pkg="rtabmap" type="rtabmap_in">
<param name="nb_commands" value="2" type="int"/>
<remap from="cmd_vel" to="az3/base_controller/cmd_vel" />
<remap from="sm_state" to="sm_state" />
<remap from="sensor_data" to="sensor_data" />
</node>
<node name="image_to_sms" pkg="rtabmap" type="image_to_sms">
<param name="image_hz" value="5.0" type="double"/>
<param name="resize_image_width" value="80" type="int"/>
<param name="resize_image_height" value="60" type="int"/>
<param name="keypoints_extracted" value="0" type="int"/>
<remap from="image" to="camera/image" />
<remap from="sm_state" to="sensor_data" />
</node>
</launch>
rtabmap/launch/az3_teleop.launch
+14
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@@ -0,0 +1,14 @@
<launch>
<!-- BRING UP AZIMUT2 -->
<include file="$(find az3_bringup)/az3_base_controller.launch"/>
<!-- TELEOP JOYSTICK -->
<node name="teleop_pr2" pkg="pr2_teleop" type="teleop_pr2" args="--deadman_no_publish">
<remap from="cmd_vel" to="az3/base_controller/cmd_vel" />
</node>
<node name="joystick" pkg="joy" type="joy_node">
<param name="autorepeat_rate" value="20" type="double" />
</node>
</launch>
rtabmap/launch/cameraOpenCV.launch
+6 -7
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@@ -1,10 +1,9 @@
<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"/>
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<param name="device_id" value="0" type="int"/>
<param name="image_hz" value="5.0" type="double"/>
<param name="image_width" value="640" type="int"/>
<param name="image_height" value="480" type="int"/>
</node>
</launch>
rtabmap/launch/camera.launch → rtabmap/launch/cameraUVC.launch
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rtabmap/launch/loop_closure_detection.launch
+19
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@@ -0,0 +1,19 @@
<launch>
<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start"/>
<node name="rtabmap_gui" pkg="rtabmap" type="rtabmap_gui" output="screen"/>
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<remap from="/camera/image" to="/image"/>
<param name="device_id" value="0" type="int"/>
<param name="image_hz" value="1.0" type="double"/>
<param name="image_width" value="640" type="int"/>
<param name="image_height" value="480" type="int"/>
</node>
</launch>
rtabmap/launch/rtabmap_lc.launch
-14
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@@ -1,14 +0,0 @@
<launch>
<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
<!-- 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">
<param name="image_rate" value="1" type="int"/>
<param name="resize_image_width" value="640" type="int"/>
<param name="resize_image_height" value="480" type="int"/>
</node>
<!-- CAMERA -->
<include file="$(find rtabmap)/launch/camera.launch"/>
</launch>
rtabmap/launch/rtabmap_sm.launch
-41
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@@ -1,41 +0,0 @@
<launch>
<!-- RTAB-MAP SENSORY-MOTOR VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- 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">
<param name="commands_hz" value="10" type="int"/>
<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">
<param name="nb_commands" value="10" type="int"/>
<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">
<param name="image_rate" value="1" type="int"/>
<param name="resize_image_width" value="640" type="int"/>
<param name="resize_image_height" value="480" type="int"/>
<remap from="/image_raw" to="/image_raw" />
<remap from="/sm_state" to="/camera_data" />
</node>
</launch>
rtabmap/launch/teleop_keyboard.launch
+10
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@@ -0,0 +1,10 @@
<launch>
<node pkg="pr2_teleop" type="teleop_pr2_keyboard" name="spawn_teleop_keyboard" output="screen">
<remap from="cmd_vel" to="user/cmd_vel" />
<param name="walk_vel" value="0.5" />
<param name="run_vel" value="1.0" />
<param name="yaw_rate" value="1.0" />
<param name="yaw_run_rate" value="1.5" />
</node>
</launch>
rtabmap/launch/test_cameraOpenCV.launch
+16
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@@ -0,0 +1,16 @@
<launch>
<!-- Nodes -->
<node name="camera_receiver" pkg="rtabmap" type="camera_receiver" output="screen">
<remap from="image" to="camera/image"/>
<remap from="image/compressed" to="camera/image/compressed"/>
<param name="image_transport" value="raw" type="str"/>
</node>
<!-- Nodes -->
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<param name="device_id" value="0" type="int"/>
<param name="image_hz" value="30.0" type="double"/>
<param name="image_width" value="640" type="int"/>
<param name="image_height" value="480" type="int"/>
</node>
</launch>
rtabmap/launch/testCamera.launch → rtabmap/launch/test_cameraUVC.launch
+1 -1
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@@ -1,6 +1,6 @@
<launch>
<!-- Nodes -->
<node name="cameraReceiver" pkg="rtabmap" type="camera_node_receiver" output="screen"/>
<node name="camera_receiver" pkg="rtabmap" type="camera_receiver" output="screen"/>
<node pkg="uvc_camera" type="camera_node" name="uvc_camera" output="screen">
<param name="width" type="int" value="640" />
rtabmap/launch/test_step_by_step_actions_only.launch
+48
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@@ -0,0 +1,48 @@
<launch>
<!-- RTAB-MAP SENSORY-MOTOR VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- Nodes -->
<!-- cmd_vel_a has priority on cmd_vel_b -->
<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity">
<param name="commands_hz" value="1.0" type="double"/>
<param name="cmd_vel_a_buffered" value="true" type="bool"/>
<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_out" pkg="rtabmap" type="rtabmap_out">
<param name="commands_hz" value="1.0" type="double"/>
<param name="idle_null_commands_sent" value="false" type="bool"/>
<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>
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" 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_in" pkg="rtabmap" type="rtabmap_in">
<param name="nb_commands" value="1" type="int"/>
<remap from="cmd_vel" to="cmd_vel" />
<remap from="sm_state" to="sm_state" />
<remap from="sensor_data" to="sensor_data" />
</node>
<node name="twist_to_sms" pkg="rtabmap" type="twist_to_sms">
<remap from="cmd_vel" to="cmd_vel" />
<remap from="sm_state" to="sensor_data" />
</node>
<node name="twist_to_turtle_vel" pkg="rtabmap" type="twist_to_turtle_vel">
</node>
<node name="turtlesim" pkg="turtlesim" type="turtlesim_node">
</node>
</launch>
rtabmap/launch/test_step_by_step_az2.launch
+63
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@@ -0,0 +1,63 @@
<launch>
<!-- BRING UP AZIMUT2 -->
<include file="$(find az2_bringup)/az2_base_controller.launch"/>
<!-- RTAB-MAP SENSORY-MOTOR VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- Nodes -->
<!-- cmd_vel_a has priority on cmd_vel_b -->
<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity">
<param name="commands_hz" value="0.5" type="double"/>
<param name="cmd_vel_a_buffered" value="true" type="bool"/>
<remap from="cmd_vel_a" to="user/cmd_vel" />
<!-- <remap from="cmd_vel_b" to="rtabmap/cmd_vel" /> -->
<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
</node>
<node name="rtabmap_out" pkg="rtabmap" type="rtabmap_out">
<param name="commands_hz" value="1.0" type="double"/>
<param name="idle_null_commands_sent" value="false" type="bool"/>
<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>
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" 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_in" pkg="rtabmap" type="rtabmap_in">
<param name="nb_commands" value="1" type="int"/>
<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
<remap from="sm_state" to="sm_state" />
<remap from="sensor_data" to="sensor_data" />
</node>
<node name="image_to_sms" pkg="rtabmap" type="image_to_sms">
<param name="image_hz" value="1" type="double"/>
<param name="resize_image_width" value="160" type="int"/>
<param name="resize_image_height" value="120" type="int"/>
<param name="keypoints_extracted" value="0" type="int"/>
<remap from="image" to="camera/image" />
<remap from="sm_state" to="sensor_data" />
</node>
<!--
<node name="twist_to_sms" pkg="rtabmap" type="twist_to_sms">
<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
<remap from="sm_state" to="sensor_data" />
</node>
-->
<node name="twist_to_turtle_vel" pkg="rtabmap" type="twist_to_turtle_vel_node">
<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
</node>
</launch>