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merged master to devel

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matlabbe
2015-06-19 20:46:05 -04:00
parent 206dda272e fa06d3050d
commit de70790e5a
7 changed files with 67 additions and 36 deletions
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launch/demo/demo_turtlebot_mapping.launch
+9 -3
View File
@@ -25,6 +25,7 @@
<arg name="localization" default="false"/>
<arg name="rgbd_odometry" default="false"/>
<arg name="args" default=""/>
<arg name="version083" default="false"/>
<!-- Navigation stuff (move_base) -->
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
@@ -48,8 +49,8 @@
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<!-- output -->
<remap from="grid_map" to="/map"/>
<!-- <remap from="proj_map" to="/map"/> -->
<remap unless="$(arg version083)" from="grid_map" to="/map"/>
<!-- <remap unless="$(arg version083)" from="proj_map" to="/map"/> -->
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
@@ -69,7 +70,7 @@
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
<!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. -->
<node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<param name="frame_id" type="string" value="base_footprint"/>
@@ -79,6 +80,11 @@
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node>
<!-- backward compatibility with hydro 0.8.3 only -->
<node if="$(arg version083)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
<remap from="grid_map" to="/map"/>
</node>
</group>
</launch>
launch/rgbd_mapping_kinect2.launch
+24 -22
View File
@@ -5,19 +5,21 @@
Install Kinect2 : Follow ALL directives at https://github.com/code-iai/iai_kinect2
Make sure it is calibrated!
Run:
$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
$ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch
$ rosrun kinect2_bridge kinect2_bridge _publish_tf:=true
Prefixes:
sd: rgb_lowres / depth_lowres
hd: rgb_rect / depth_highres
ir: ir_rect / depth_rect
-->
<arg name="rgb_prefix" default="rgb_lowres" />
<arg name="depth_prefix" default="depth_lowres" />
<!-- Which image resolution to process in rtabmap: sd, qhd, hd -->
<arg name="resolution" default="qhd" />
<!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="frame_id" default="kinect2_link"/>
<arg name="frame_id" default="kinect2_base_link"/>
<!-- Rotate the camera -->
<arg name="pi/2" value="1.5707963267948966"/>
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="kinect2_base_link"
args="$(arg optical_rotate) kinect2_base_link kinect2_link 100" />
<!-- Choose visualization -->
<arg name="rviz" default="false" />
@@ -38,7 +40,7 @@
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="8.0" />
<arg name="max_depth" default="10.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
@@ -49,9 +51,9 @@
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/kinect2/$(arg rgb_prefix)/image"/>
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
<remap from="rgb/image" to="/kinect2/$(arg resolution)/image_mono_rect"/>
<remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="approx_sync" type="bool" value="true"/>
@@ -74,9 +76,9 @@
<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/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
<remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
<remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
<param name="approx_sync" type="bool" value="true"/>
@@ -91,9 +93,9 @@
<param name="approx_sync" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="/kinect2/$(arg rgb_prefix)/image"/>
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
<remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
<remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
</node>
</group>
@@ -103,9 +105,9 @@
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="/kinect2/$(arg rgb_prefix)/image"/>
<remap from="depth/image_in" to="/kinect2/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info_in" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
<remap from="rgb/image_in" to="/kinect2/$(arg resolution)/image_color_rect"/>
<remap from="depth/image_in" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="rgb/camera_info_in" to="/kinect2/$(arg resolution)/camera_info"/>
<remap from="odom_in" to="rtabmap/odom"/>