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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/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>