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Updated ros-pkg for RTAB-Map 0.8.0

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Moved all nodelets and rviz plugins in "rtabmap_ros" namespace instead of "rtabmap"
Refactored rtabmap_ros messages (added convenient conversion methods in rtabmap_ros/MsgConversion.h)
Added noise filtering parameters for map_assembler node
Added variance parameter for map_optimizer node
Odometry nodes publish covariance matrices in odometry messages. Publish rtambap_ros::OdomInfo topic too.
This commit is contained in:
Mathieu Labbe
2014-12-14 16:44:13 -05:00
parent c91586ea57
commit dfe5cff0c0
74 changed files with 915 additions and 1088 deletions
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launch/azimut3/az3_mapping_client.launch
+1 -1
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@@ -21,7 +21,7 @@
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<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">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
launch/azimut3/az3_mapping_client_nav.launch
+1 -1
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@@ -11,7 +11,7 @@
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
launch/azimut3/az3_mapping_robot.launch
+1 -1
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@@ -10,7 +10,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
launch/azimut3/az3_mapping_robot_kinect_odom.launch
+1 -1
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@@ -10,7 +10,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
launch/azimut3/az3_mapping_robot_kinect_scan.launch
+1 -1
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@@ -10,7 +10,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
launch/azimut3/az3_mapping_robot_nav.launch
+2 -2
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@@ -47,7 +47,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
@@ -60,7 +60,7 @@
</node>
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_planner" args="load rtabmap/point_cloud_xyzrgb camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_planner" args="load rtabmap_ros/point_cloud_xyzrgb camera_nodelet_manager">
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
launch/azimut3/az3_mapping_robot_stereo_nav.launch
+3 -3
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@@ -69,7 +69,7 @@
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
Throttle camera images -->
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap/stereo_throttle stereo_nodelet">
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap_ros/stereo_throttle stereo_nodelet">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
@@ -88,7 +88,7 @@
</node>
<!-- Create point cloud for the planner -->
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap/point_cloud_xyz stereo_nodelet">
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_ros/point_cloud_xyz stereo_nodelet">
<remap from="disparity/image" to="disparity"/>
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
<remap from="cloud" to="cloudXYZ"/>
@@ -97,7 +97,7 @@
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="4"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap/obstacles_detection stereo_nodelet">
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection stereo_nodelet">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/planner_cloud"/>
launch/azimut3/az3_remote_mapping_robot.launch
+1 -1
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@@ -10,7 +10,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
launch/azimut3/az3_remote_mapping_rviz.launch
+1 -1
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@@ -56,7 +56,7 @@
<!-- Below, construct point cloud of the latest throttled data -->
<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">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>