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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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src/CoreWrapper.cpp
+8 -2
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@@ -162,8 +162,14 @@ void CoreWrapper::onInit()
pnh.param("gen_scan_max_depth", genScanMaxDepth_, genScanMaxDepth_);
pnh.param("gen_scan_min_depth", genScanMinDepth_, genScanMinDepth_);
pnh.param("scan_cloud_max_points", scanCloudMaxPoints_, scanCloudMaxPoints_);
pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_);
pnh.param("scan_cloud_normal_radius", scanCloudNormalRadius_, scanCloudNormalRadius_);
pnh.param("scan_normal_k", scanCloudNormalK_, scanCloudNormalK_);
if(pnh.hasParam("scan_cloud_normal_k") && !pnh.hasParam("scan_normal_k"))
{
ROS_WARN("rtabmap: Parameter \"scan_cloud_normal_k\" has been renamed to \"scan_normal_k\". "
"The value is still used. Use \"scan_normal_k\" to avoid this warning.");
pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_);
}
pnh.param("scan_normal_radius", scanCloudNormalRadius_, scanCloudNormalRadius_);
pnh.param("stereo_to_depth", stereoToDepth_, stereoToDepth_);
pnh.param("odom_sensor_sync", odomSensorSync_, odomSensorSync_);
if(pnh.hasParam("flip_scan"))
src/OdometryROS.cpp
+1 -1
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@@ -533,7 +533,7 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
if(odomLocalScanMap_.getNumSubscribers() && !info.localScanMap.empty())
{
sensor_msgs::PointCloud2 cloudMsg;
if(info.localScanMap.channels() == 6)
if(info.localScanMap.channels() >= 5)
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud = util3d::laserScanToPointCloudNormal(info.localScanMap);
pcl::toROSMsg(*cloud, cloudMsg);
src/nodelets/icp_odometry.cpp
+8 -2
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@@ -74,8 +74,14 @@ private:
ros::NodeHandle & pnh = getPrivateNodeHandle();
pnh.param("scan_cloud_max_points", scanCloudMaxPoints_, scanCloudMaxPoints_);
pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_);
pnh.param("scan_cloud_normal_k", scanCloudNormalRadius_, scanCloudNormalRadius_);
pnh.param("scan_normal_k", scanCloudNormalK_, scanCloudNormalK_);
if(pnh.hasParam("scan_cloud_normal_k") && !pnh.hasParam("scan_normal_k"))
{
ROS_WARN("rtabmap: Parameter \"scan_cloud_normal_k\" has been renamed to \"scan_normal_k\". "
"The value is still used. Use \"scan_normal_k\" to avoid this warning.");
pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_);
}
pnh.param("scan_normal_radius", scanCloudNormalRadius_, scanCloudNormalRadius_);
scan_sub_ = nh.subscribe("scan", 1, &ICPOdometry::callbackScan, this);
cloud_sub_ = nh.subscribe("scan_cloud", 1, &ICPOdometry::callbackCloud, this);
src/nodelets/rgbdicp_odometry.cpp
+8 -2
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@@ -111,8 +111,14 @@ private:
pnh.param("queue_size", queueSize_, queueSize_);
pnh.param("subscribe_scan_cloud", subscribeScanCloud, subscribeScanCloud);
pnh.param("scan_cloud_max_points", scanCloudMaxPoints_, scanCloudMaxPoints_);
pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_);
pnh.param("scan_cloud_normal_radius", scanCloudNormalRadius_, scanCloudNormalRadius_);
pnh.param("scan_normal_k", scanCloudNormalK_, scanCloudNormalK_);
if(pnh.hasParam("scan_cloud_normal_k") && !pnh.hasParam("scan_normal_k"))
{
ROS_WARN("rtabmap: Parameter \"scan_cloud_normal_k\" has been renamed to \"scan_normal_k\". "
"The value is still used. Use \"scan_normal_k\" to avoid this warning.");
pnh.param("scan_cloud_normal_k", scanCloudNormalK_, scanCloudNormalK_);
}
pnh.param("scan_normal_radius", scanCloudNormalRadius_, scanCloudNormalRadius_);
ros::NodeHandle rgb_nh(nh, "rgb");
ros::NodeHandle depth_nh(nh, "depth");