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Merge branch 'master' of github.com:introlab/rtabmap_ros into 0.11.0

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Conflicts:
	src/CoreWrapper.cpp
	src/CoreWrapper.h
This commit is contained in:
matlabbe
2016-03-09 12:22:27 -05:00
parent 6b5ccf99fb 26c656776c
commit d712efe455
12 changed files with 126 additions and 53 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+7 -5
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@@ -45,6 +45,8 @@
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Mem/ImageDecimation" type="string" value="4"/>
<param name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="false"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="Rtabmap/TimeThr" type="string" value="600"/>
@@ -79,7 +81,7 @@
<!-- ROS navigation stack move_base -->
<group ns="planner">
<remap from="base_scan" to="/base_scan"/>
<remap from="scan" to="/base_scan"/>
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
<remap from="ground_cloud" to="/ground_cloud"/>
<remap from="map" to="/map"/>
@@ -87,9 +89,9 @@
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
@@ -109,7 +111,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<param name="rate" type="double" value="5"/>
<param name="decimation" type="int" value="2"/>
launch/data_recorder.launch
+5 -2
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@@ -35,10 +35,13 @@
<param name="Kp/WordsPerImage" type="string" value="-1"/> <!-- desactivate keypoints extraction -->
<param name="Rtabmap/MaxRetrieved" type="string" value="0"/> <!-- desactivate global retrieval -->
<param name="RGBD/MaxLocalRetrieved" type="string" value="0"/> <!-- desactivate local retrieval -->
<param name="Rtabmap/MemoryThr" type="string" value="1"/> <!-- keep the WM empty -->
<param name="Mem/MapLabelsAdded" type="string" value="false"/> <!-- don't create map labels -->
<param name="Rtabmap/MemoryThr" type="string" value="2"/> <!-- keep the WM empty -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- STM=1 -->
<param name="publish_tf" type="bool" value="false"/> <!-- don't publish TF -->
<param name="RGBD/LocalLoopDetectionSpace" type="bool" value="false"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LinearUpdate" type="string" value="0"/>
<param name="RGBD/AngularUpdate" type="string" value="0"/>
<param unless="$(arg subscribe_odometry)" name="RGBD/Enabled" type="string" value="false"/>
<param name="Rtabmap/DetectionRate" type="string" value="$(arg max_rate)"/>
launch/rtabmap.launch
+36 -23
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@@ -48,6 +48,9 @@
<arg name="approx_sync" default="false"/> <!-- if timestamps of the stereo images are not synchronized -->
<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
<!-- For depth_topic, "compressedDepth" image_transport is used. -->
<!-- For rgb_topic, see "rgb_image_transport" argument. -->
<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
<arg name="subscribe_scan" default="false"/>
<arg name="scan_topic" default="/scan"/>
@@ -55,17 +58,27 @@
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
<arg if="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)_relay"/>
<arg unless="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)"/>
<arg if="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)"/>
<arg if="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)"/>
<!-- Nodes -->
<group ns="$(arg namespace)">
<!-- RGB-D Odometry -->
<group if="$(arg rgbd)">
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=$(arg rgb_topic) raw out:=$(arg rgb_topic)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_registered_topic) raw out:=$(arg depth_registered_topic)" />
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
@@ -77,12 +90,12 @@
<!-- Stereo Odometry -->
<group if="$(arg stereo)">
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic)" />
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="$(arg left_image_topic)"/>
<remap from="right/image_rect" to="$(arg right_image_topic)"/>
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
@@ -96,7 +109,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_scan)"/>
@@ -107,12 +120,12 @@
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="left/image_rect" to="$(arg left_image_topic)"/>
<remap from="right/image_rect" to="$(arg right_image_topic)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
@@ -121,7 +134,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg cfg)" output="screen">
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_scan)"/>
@@ -130,12 +143,12 @@
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="left/image_rect" to="$(arg left_image_topic)"/>
<remap from="right/image_rect" to="$(arg right_image_topic)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
@@ -148,12 +161,12 @@
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="left/image" to="$(arg left_image_topic)"/>
<remap from="right/image" to="$(arg right_image_topic)"/>
<remap from="left/image" to="$(arg left_image_topic_relay)"/>
<remap from="right/image" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="cloud" to="voxel_cloud" />