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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/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"/>