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updated launch rviz launch files to use RTAB-Map MapCloud plugin

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1465 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-06 23:01:35 +00:00
parent 12966f55ba
commit dbff9c1c22
7 changed files with 186 additions and 161 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/azimut3/az3_mapping_client_rviz.launch
-8
View File
@@ -2,14 +2,6 @@
<launch>
<group ns="rtabmap">
<!-- Visualisation (client side) -->
<!-- Map assembler for rviz -->
<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen">
<param name="cloud_decimation" type="int" value="4"/>
<param name="cloud_voxel_size" type="double" value="0.02"/>
<param name="scan_voxel_size" type="double" value="0.01"/>
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
</group>
launch/config/azimut3.rviz
+33 -58
View File
@@ -26,7 +26,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
@@ -98,8 +98,6 @@ Visualization Manager:
Value: true
camera_rgb_optical_frame:
Value: true
map:
Value: true
odom:
Value: true
wheelLB_linkWheel_link:
@@ -124,62 +122,9 @@ Visualization Manager:
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_footprint:
base_link:
base_laser_link:
{}
camera_link:
camera_depth_frame:
camera_depth_optical_frame:
{}
camera_rgb_frame:
camera_rgb_optical_frame:
{}
wheelLB_linkWheel_link:
wheelLB_wheel_link:
{}
wheelLF_linkWheel_link:
wheelLF_wheel_link:
{}
wheelRB_linkWheel_link:
wheelRB_wheel_link:
{}
wheelRF_linkWheel_link:
wheelRF_wheel_link:
{}
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.3372
Min Value: -0.700095
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /rtabmap/assembled_clouds
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -288,6 +233,36 @@ Visualization Manager:
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud voxel size (m): 0.02
Color: 255; 255; 255
Color Transformer: ""
Download map: false
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: MapCloud
Position Transformer: ""
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /rtabmap/mapData
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -341,5 +316,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1273
X: 115
X: 108
Y: 202
launch/config/rgbd.rviz
+113 -47
View File
@@ -6,7 +6,7 @@ Panels:
Expanded:
- /Global Options1
- /TF1/Frames1
Splitter Ratio: 0.5
Splitter Ratio: 0.411058
Tree Height: 518
- Class: rviz/Selection
Name: Selection
@@ -25,7 +25,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
SyncSource: MapCloud
Visualization Manager:
Class: ""
Displays:
@@ -45,7 +45,7 @@ Visualization Manager:
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: odom
Reference Frame: map
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
@@ -81,49 +81,80 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
base_footprint:
Value: true
base_laser_link:
Value: true
base_link:
Value: true
camera_depth_frame:
Value: true
camera_depth_optical_frame:
Value: true
camera_link:
Value: true
camera_rgb_frame:
Value: true
camera_rgb_optical_frame:
Value: true
map:
Value: true
odom:
Value: true
wheelLB_linkWheel_link:
Value: true
wheelLB_wheel_link:
Value: true
wheelLF_linkWheel_link:
Value: true
wheelLF_wheel_link:
Value: true
wheelRB_linkWheel_link:
Value: true
wheelRB_wheel_link:
Value: true
wheelRF_linkWheel_link:
Value: true
wheelRF_wheel_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
map:
odom:
base_footprint:
base_link:
base_laser_link:
{}
camera_link:
camera_depth_frame:
camera_depth_optical_frame:
{}
camera_rgb_frame:
camera_rgb_optical_frame:
{}
wheelLB_linkWheel_link:
wheelLB_wheel_link:
{}
wheelLF_linkWheel_link:
wheelLF_wheel_link:
{}
wheelRB_linkWheel_link:
wheelRB_wheel_link:
{}
wheelRF_linkWheel_link:
wheelRF_wheel_link:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.3372
Min Value: -0.700095
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /assembled_clouds
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 9.61762
Min Value: -10.4251
Max Value: 8.41375
Min Value: 2.13701
Value: true
Axis: X
Channel Name: intensity
@@ -143,8 +174,8 @@ Visualization Manager:
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic: /jn0/base_scan
Style: Points
Topic: /base_scan
Use Fixed Frame: false
Use rainbow: true
Value: true
@@ -154,12 +185,42 @@ Visualization Manager:
Draw Behind: false
Enabled: true
Name: Map
Topic: /grid_map
Topic: /rtabmap/grid_map
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud voxel size (m): 0.02
Color: 255; 255; 255
Color Transformer: RGB8
Download map: false
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: MapCloud
Position Transformer: XYZ
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /rtabmap/mapData
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: odom
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
@@ -176,17 +237,22 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 6.3839
Distance: 12.2587
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 1.21633
Y: 0.709636
Z: -0.00735356
X: 2.34873
Y: 0.212305
Z: -2.50326
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.5598
Pitch: 0.939797
Target Frame: base_link
Value: Orbit (rviz)
Yaw: 3.58419
Yaw: 3.45419
Saved: ~
Window Geometry:
Displays:
@@ -194,7 +260,7 @@ Window Geometry:
Height: 691
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000013600000295fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000295000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003bd0000029500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001b200000295fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000295000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003410000029500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -204,5 +270,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1273
X: 212
X: 121
Y: 201
launch/demo/demo_robot_mapping_rviz.launch
+30 -35
View File
@@ -7,49 +7,44 @@
<param name="use_sim_time" type="bool" value="True"/>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<group ns="rtabmap">
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" 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="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"/>
<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="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM -->
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
</node>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM -->
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
</group>
<!-- Visualisation -->
<!-- Map assembler for rviz-->
<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen" args="">
<param name="cloud_decimation" type="int" value="8"/>
<param name="cloud_max_depth" type="double" value="4"/>
<param name="cloud_voxel_size" type="double" value="0.02"/>
<param name="scan_voxel_size" type="double" value="0.01"/>
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
launch/rgbd_mapping_rviz.launch
+1 -9
View File
@@ -38,15 +38,7 @@
</node>
</group>
<!-- Map assembler for rviz -->
<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen">
<remap from="infoEx" to="rtabmap/infoEx"/>
<param name="cloud_decimation" type="int" value="4"/>
<param name="cloud_voxel_size" type="double" value="0.02"/>
<param name="scan_voxel_size" type="double" value="0.01"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->