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demo_hector_mapping.launch: when "hector" argument is false, icp_odometry is used

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matlabbe
2017-09-09 22:46:37 -04:00
parent bf17e7368f
commit db7118554d
7 changed files with 121 additions and 32 deletions
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launch/tests/test_icp_odometry.launch
+65 -20
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@@ -3,7 +3,9 @@
<!-- We test here ICP odometry using a guess from visual odometry -->
<arg name="rgbd" default="false"/>
<arg name="rgbd" default="false"/>
<arg name="pm" default="false"/>
<arg name="nodelet" default="false"/>
<include file="$(find freenect_launch)/launch/freenect.launch" >
<arg name="depth_registration" value="true"/>
@@ -22,32 +24,75 @@
<param name="Odom/AlignWithGround" type="string" value="true"/>
</node>
<node if="$(arg rgbd)" pkg="nodelet" type="nodelet" name="rgbdicp_odometry" args="load rtabmap_ros/rgbdicp_odometry camera_nodelet_manager">
<remap from="scan_cloud" to="/voxel_cloud"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="rgb/image" to="rgb/image_rect_mono"/>
<group if="$(arg nodelet)">
<node if="$(arg rgbd)" pkg="nodelet" type="nodelet" name="rgbdicp_odometry" args="load rtabmap_ros/rgbdicp_odometry camera_nodelet_manager">
<remap from="scan_cloud" to="/voxel_cloud"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="rgb/image" to="rgb/image_rect_mono"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_cloud_normal_k" type="int" value="10"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_normal_k" type="int" value="10"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
</node>
<node unless="$(arg rgbd)" pkg="nodelet" type="nodelet" name="icp_odometry" args="load rtabmap_ros/icp_odometry camera_nodelet_manager">
<remap from="scan_cloud" to="/voxel_cloud"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Icp/PM" type="string" value="$(arg pm)"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.65"/>
</node>
<node unless="$(arg rgbd)" pkg="nodelet" type="nodelet" name="icp_odometry" args="load rtabmap_ros/icp_odometry camera_nodelet_manager" output="screen">
<remap from="scan_cloud" to="/voxel_cloud"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_cloud_normal_k" type="int" value="10"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_normal_k" type="int" value="10"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Icp/PM" type="string" value="$(arg pm)"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.65"/>
<param name="Odom/GuessMotion" type="string" value="true"/>
<param name="Odom/ResetCountdown" type="string" value="1"/>
</node>
</group>
<group unless="$(arg nodelet)">
<node if="$(arg rgbd)" pkg="rtabmap_ros" type="rgbdicp_odometry" name="rgbdicp_odometry" output="screen">
<remap from="scan_cloud" to="/voxel_cloud"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="rgb/image" to="rgb/image_rect_mono"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_normal_k" type="int" value="10"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Odom/GuessMotion" type="string" value="true"/>
</node>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Icp/PM" type="string" value="$(arg pm)"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.65"/>
</node>
<node unless="$(arg rgbd)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
<remap from="scan_cloud" to="/voxel_cloud"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_normal_k" type="int" value="10"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Icp/PM" type="string" value="$(arg pm)"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.65"/>
<param name="Odom/GuessMotion" type="string" value="true"/>
<param name="Odom/ResetCountdown" type="string" value="1"/>
</node>
</group>
</group>
<!-- We just use odometry without rtabmap node, so set a static /map->/odom
transform so that rviz config below works out-of-the-box -->
<node pkg="tf" type="static_transform_publisher" name="map_odom"
args="0 0 0 0 0 0 map odom 100" />
<!-- Visualization RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
</launch>