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Updated for rtabmap 0.8.12. Updated synchronization of messages (laser scan and images) with odometry pose stamp. Removed data_recorder node, use data_recorder.launch instead.

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Mathieu Labbe
2015-05-03 18:23:56 -04:00
parent 55ce1db43a
commit db4b4a9397
10 changed files with 215 additions and 1037 deletions
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launch/data_recorder.launch
+51 -35
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@@ -1,40 +1,56 @@
<launch>
<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
<param name="output_file_name" value="output.db" type="string"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="subscribe_odometry" type="bool" value="false"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="raw"/>
<param name="depth/image_transport" type="string" value="raw"/>
<param name="queue_size" type="int" value="10"/>
</node>
<!-- Throttling messages -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle standalone_nodelet" output="screen">
<param name="rate" type="double" value="10.0"/>
<remap from="rgb/image_in" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image_in" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="/camera/depth_registered/camera_info"/>
<remap from="rgb/image_out" to="data_throttled_image"/>
<remap from="depth/image_out" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
</node>
<!-- arguments -->
<arg name="subscribe_odometry" default="false"/>
<arg name="subscribe_depth" default="true"/>
<arg name="subscribe_stereo" default="false"/>
<arg name="subscribe_laserScan" default="false"/>
<node pkg="image_view" type="image_view" name="image_view">
<remap from="image" to="data_throttled_image"/>
</node>
<arg name="frame_id" default="camera_link"/>
<arg name="odom_frame_id" default=""/> <!-- use topic when not set, otherwise use TF if set -->
<arg name="output_path" default="output.db"/>
<arg name="record_in_RAM" default="true"/>
<arg name="queue_size" default="10"/>
<arg name="max_rate" default="0"/> <!-- Record as fast as possible -->
<arg name="camera_prefix" default="camera"/>
<arg name="odom_topic" default="odom"/>
<arg name="scan_topic" default="scan"/>
<node name="data_recorder" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<!-- Disable any processing -->
<param name="Mem/RehearsalSimilarity" type="string" value="1.0"/> <!-- desactivate rehearsal -->
<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/STMSize" type="string" value="1"/> <!-- STM=1 -->
<param name="publish_tf" type="bool" value="false"/> <!-- don't publish TF -->
<param unless="$(arg subscribe_odometry)" name="RGBD/Enabled" type="string" value="false"/>
<param name="Rtabmap/DetectionRate" type="string" value="$(arg max_rate)"/>
<param name="DbSqlite3/InMemory" type="string" value="$(arg record_in_RAM)"/>
<param name="database_path" type="string" value="$(arg output_path)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="$(arg subscribe_depth)"/>
<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_laserScan)"/>
<param name="subscribe_stereo" type="bool" value="$(arg subscribe_stereo)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<!-- Hack to use a fake odom_frame_id=frame_id if subscribe_odometry = false -->
<param if="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param unless="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="$(arg camera_prefix)/rgb/image_rect_color"/>
<remap from="rgb/camera_info" to="$(arg camera_prefix)/rgb/camera_info"/>
<remap from="depth/image" to="$(arg camera_prefix)/depth_registered/image_raw"/>
<remap from="left/image_rect" to="$(arg camera_prefix)/left/image_rect"/>
<remap from="left/camera_info" to="$(arg camera_prefix)/left/camera_info"/>
<remap from="right/image_rect" to="$(arg camera_prefix)/right/image_rect"/>
<remap from="right/camera_info" to="$(arg camera_prefix)/right/camera_info"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>
</launch>
launch/demo/demo_data_recorder.launch
+24 -22
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@@ -5,27 +5,29 @@
<!-- This demo works with demo_mapping.bag -->
<param name="use_sim_time" type="bool" value="True"/>
<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
<param name="output_file_name" value="output.db" type="string"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_odometry" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<remap from="scan" to="/jn0/base_scan"/>
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
</node>
<include file="$(find rtabmap_ros)/launch/data_recorder.launch">
<arg name="subscribe_odometry" value="true"/>
<arg name="subscribe_depth" value="true"/>
<arg name="subscribe_stereo" value="false"/>
<arg name="subscribe_laserScan" value="true"/>
<arg name="frame_id" value="base_footprint"/>
<arg name="odom_frame_id" value=""/> <!-- use topic when not set, otherwise use TF if set -->
<arg name="output_path" value="output.db"/>
<arg name="record_in_RAM" value="false"/>
<arg name="queue_size" value="10"/>
<arg name="max_rate" value="0"/>
<arg name="camera_prefix" value="/camera"/>
<arg name="odom_topic" value="/az3/base_controller/odom"/>
<arg name="scan_topic" value="/jn0/base_scan"/>
</include>
<!-- uncompress image data -->
<node name="cameraInfo_relay" type="relay" pkg="topic_tools" args="/data_throttled_camera_info /camera/rgb/camera_info"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=/data_throttled_image raw out:=/camera/rgb/image_rect_color" />
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/data_throttled_image_depth raw out:=/camera/depth_registered/image_raw" />
</launch>
launch/rgbd_localization.launch
-106
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@@ -1,106 +0,0 @@
<launch>
<!-- RGB-D LOCALIZATION VERSION -->
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-"max_depth" : Maximum features depth (m)
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : Local map size: number of unique features to keep track
-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
-->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="4.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<arg name="odom_info_data" default="true" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
</node>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="LccBow/MinInliers" type="string" value="10"/> <!-- Minimum inliers to accept a loop closure -->
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node>
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="camera/rgb/camera_info"/>
<remap from="odom_in" to="rtabmap/odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
<remap from="odom_out" to="odom_sync"/>
</node>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_odom_sync/image"/>
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="voxel_size" type="double" value="0.01"/>
</node>
</launch>
launch/rgbd_mapping.launch
+11 -9
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@@ -5,9 +5,12 @@
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="frame_id" default="camera_link"/>
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
@@ -29,11 +32,7 @@
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<arg name="odom_info_data" default="true" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
<group ns="rtabmap">
<!-- Odometry -->
@@ -42,6 +41,7 @@
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
@@ -56,19 +56,21 @@
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
launch/rgbd_mapping_kinect2.launch
+12 -10
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@@ -15,10 +15,13 @@
-->
<arg name="rgb_prefix" default="rgb_lowres" />
<arg name="depth_prefix" default="depth_lowres" />
<!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="frame_id" default="kinect2_link"/>
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
@@ -35,17 +38,13 @@
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="4.0" />
<arg name="max_depth" default="8.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<arg name="gftt_max_corners" default="500" />
<arg name="gftt_min_distance" default="7" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /kinect2_link 100" />
<group ns="rtabmap">
<!-- Odometry -->
@@ -54,6 +53,7 @@
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="approx_sync" type="bool" value="true"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
@@ -72,6 +72,7 @@
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="/kinect2/$(arg rgb_prefix)/image"/>
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>
@@ -80,7 +81,7 @@
<param name="approx_sync" type="bool" value="true"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
</node>
<!-- Visualisation RTAB-Map -->
@@ -88,6 +89,7 @@
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="/kinect2/$(arg rgb_prefix)/image"/>
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>