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https://github.com/introlab/rtabmap_ros.git
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ros-pkg: updated azimut3 stereo launch file
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1907 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -1,18 +1,13 @@
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<launch>
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<!-- to record odom+image left+depth:
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rosbag record /odom_sync /camera/data_throttled_image/compressed /camera/data_throttled_camera_info /camera/data_throttled_image_depth/compressedDepth
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-->
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<!-- "Disable" odometry from azimut3 -->
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<!-- "Disable" wheel odometry from azimut3 -->
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<group ns="base_controller">
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<param name="odom_frame_id" type="string" value="az3_odom"/>
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<param name="base_frame_id" type="string" value="az3_base_link"/>
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</group>
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<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
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<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
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<!-- AZIMUT 3 bringup: launch motors and TF -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<include file="$(find az3_bringup)/joystick.launch"/>
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@@ -27,6 +22,7 @@
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<param name="camera_info_url_right" value="" />
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</node>
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<!-- TF transforms for the stereo camera -->
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<arg name="pi/2" value="1.5707963267948966" />
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<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
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<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
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@@ -34,16 +30,35 @@
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_base_link"
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args="0 0 0.90 0 0.40 0 base_link stereo_camera_base 100" />
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<!-- Run the ROS package stereo_image_proc for image rectification and disparity computation -->
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<!-- Run the ROS package stereo_image_proc for image rectification-->
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<group ns="/stereo_camera" >
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
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<node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap/disparity_to_depth"/>
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<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
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Throttle camera images to 10 Hz () -->
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<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap/stereo_throttle">
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<remap from="left/image" to="left/image_raw"/>
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<remap from="right/image" to="right/image_raw"/>
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<remap from="left/camera_info" to="left/camera_info"/>
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<remap from="right/camera_info" to="right/camera_info"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="rate" type="double" value="10"/>
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</node>
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
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<remap from="left/image_raw" to="left/image_raw_throttle"/>
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<remap from="left/camera_info" to="left/camera_info_throttle"/>
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<remap from="right/image_raw" to="right/image_raw_throttle"/>
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<remap from="right/camera_info" to="right/camera_info_throttle"/>
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</node>
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</group>
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<!-- Visual Odometry -->
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<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
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<remap from="stereo" to="/stereo_camera"/>
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<remap from="image" to="image_rect"/>
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<remap from="left/camera_info" to="left/camera_info_throttle" />
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<remap from="right/camera_info" to="right/camera_info_throttle" />
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<param name="base_link_frame_id" value="base_footprint"/>
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<param name="odom_frame_id" value="odom"/>
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<param name="ref_frame_change_method" value="1"/>
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@@ -54,12 +69,12 @@
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
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<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
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<remap from="depth/image" to="/stereo_camera/depth"/>
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<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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@@ -67,32 +82,37 @@
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<!-- RTAB-Map's parameters -->
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Rtabmap/DetectionRate" type="string" value="0.5"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="RGBD/ToroIterations" type="string" value="0"/> <!-- Disable graph optimization for map_optimizer node below -->
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<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
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<param name="Kp/WordsPerImage" type="string" value="100"/>
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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="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="10"/>
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<param name="LccBow/MaxDepth" type="string" value="3"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.02"/>
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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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</node>
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
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<node pkg="rtabmap" type="map_assembler" name="map_assembler">
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<remap from="mapData" to="mapData_optimized"/>
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<param name="occupancy_grid" type="bool" value="true"/>
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</node>
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</group>
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<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="standalone rtabmap/data_odom_sync">
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<remap from="rgb/image_in" to="/stereo_camera/left/image_rect_color"/>
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<remap from="depth/image_in" to="/stereo_camera/depth"/>
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<remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
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<remap from="odom_in" to="/stereo_odometer/odometry"/>
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<remap from="rgb/image_out" to="/camera/data_throttled_image"/>
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<remap from="depth/image_out" to="/camera/data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="/camera/data_throttled_camera_info"/>
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<remap from="odom_out" to="odom_sync"/>
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<param name="queue_size" type="int" value="30"/>
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</node>
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</launch>
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