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https://github.com/introlab/rtabmap_ros.git
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ros-pkg: updated azimut3 nav launch files
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2004 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -2,24 +2,32 @@
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<launch>
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<!-- Remote teleop -->
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<include file="$(find az3_bringup)/joystick.launch"/>
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<!-- Visualisation (client side) -->
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<group ns="rtabmap">
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<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
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<!-- a relay on this machine, same for images -->
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
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<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
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<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_relay"/>
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<remap from="grid_map" to="rtabmap/grid_map"/>
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</node>
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<remap from="rgb/image" to="/camera/data_throttled_image"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="odom" to="/base_controller/odom"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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</node>
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</group>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
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<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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@@ -1,33 +0,0 @@
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<launch>
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<!-- Remote teleop -->
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
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<!-- a relay on this machine, same for images -->
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
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<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
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<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_relay"/>
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<remap from="grid_map" to="rtabmap/grid_map"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
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<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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@@ -0,0 +1,9 @@
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<launch>
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<!-- relays -->
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/stereo_camera/left/image_rect_color raw out:=/stereo_camera/left/image_rect_color_relay" />
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_stereo_nav.rviz"/>
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</launch>
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@@ -71,12 +71,6 @@
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</node>
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</group>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData"/>
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<remap from="grid_map" to="map"/>
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</node>
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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@@ -88,7 +82,7 @@
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<remap from="odom" to="/base_controller/odom"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="mapData" to="mapData_notOptimized"/>
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<remap from="mapData" to="mapData"/>
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<remap from="rgb/image" to="/camera/data_throttled_image"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
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@@ -111,35 +105,42 @@
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<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="RGBD/ToroIterations" type="string" value="0"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
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<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
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<param name="Kp/DetectorStrategy" type="string" value="0"/>
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<param name="Kp/WordsPerImage" type="string" value="200"/>
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<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="Kp/NNStrategy" type="string" value="1"/>
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<param name="Kp/WordsPerImage" type="string" value="200"/>
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<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="Kp/NNStrategy" type="string" value="1"/>
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<param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
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<param name="SURF/HessianThreshold" type="string" value="1000"/>
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<param name="LccBow/MaxDepth" type="string" value="4"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.1"/>
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<param name="LccBow/MaxDepth" type="string" value="4"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.1"/>
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<param name="LccReextract/Activated" type="string" value="true"/>
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<param name="LccReextract/FeatureType" type="string" value="4"/>
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<param name="LccReextract/Activated" type="string" value="true"/>
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<param name="LccReextract/FeatureType" type="string" value="4"/>
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<param name="LccReextract/MaxWords" type="string" value="400"/>
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<param name="LccReextract/NNDR" type="string" value="0.8"/>
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<param name="LccReextract/NNType" type="string" value="3"/>
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<param name="LccReextract/NNType" type="string" value="3"/>
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<!-- Disable graph optimization because we use map_optimizer node below -->
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<param name="RGBD/ToroIterations" type="string" value="0"/>
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</node>
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<!-- to always have the global map optimized -->
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer">
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<remap from="mapData" to="mapData_notOptimized"/>
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<remap from="mapData_notOptimized_optimized" to="mapData"/>
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</node>
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
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</group>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_optimized"/>
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<remap from="grid_map" to="map"/>
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</node>
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</launch>
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