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ros-pkg: updated azimut3 nav launch files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2004 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-14 19:53:57 +00:00
parent c872819a54
commit c6c094f565
7 changed files with 602 additions and 140 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+23 -22
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@@ -71,12 +71,6 @@
</node>
</group>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData"/>
<remap from="grid_map" to="map"/>
</node>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
@@ -88,7 +82,7 @@
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="mapData" to="mapData_notOptimized"/>
<remap from="mapData" to="mapData"/>
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
@@ -111,35 +105,42 @@
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="RGBD/ToroIterations" type="string" value="0"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Kp/NNStrategy" type="string" value="1"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Kp/NNStrategy" type="string" value="1"/>
<param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
<param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="LccBow/MaxDepth" type="string" value="4"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/>
<param name="LccBow/MaxDepth" type="string" value="4"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/MaxWords" type="string" value="400"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
<param name="LccReextract/NNType" type="string" value="3"/>
<!-- Disable graph optimization because we use map_optimizer node below -->
<param name="RGBD/ToroIterations" type="string" value="0"/>
</node>
<!-- to always have the global map optimized -->
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer">
<remap from="mapData" to="mapData_notOptimized"/>
<remap from="mapData_notOptimized_optimized" to="mapData"/>
</node>
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
</group>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData_optimized"/>
<remap from="grid_map" to="map"/>
</node>
</launch>