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rtabmap.launch: added scan_cloud_assembling option

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matlabbe
2020-04-19 09:53:09 -04:00
parent 9aa3854f8b
commit dff012718e
2 changed files with 29 additions and 2 deletions
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launch/rtabmap.launch
+18 -2
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@@ -102,6 +102,11 @@
<arg name="imu_topic" default="/imu/data"/> <!-- only used with VIO approaches --> <arg name="imu_topic" default="/imu/data"/> <!-- only used with VIO approaches -->
<arg name="wait_imu_to_init" default="false"/> <arg name="wait_imu_to_init" default="false"/>
<arg name="scan_cloud_assembling" default="false"/>
<arg name="scan_cloud_assembling_time" default="1"/>
<arg name="scan_cloud_assembling_fixed_frame" default=""/>
<arg name="scan_cloud_assembling_voxel_size" default="0.05"/>
<arg name="subscribe_user_data" default="false"/> <!-- user data synchronized subscription --> <arg name="subscribe_user_data" default="false"/> <!-- user data synchronized subscription -->
<arg name="user_data_topic" default="/user_data"/> <arg name="user_data_topic" default="/user_data"/>
<arg name="user_data_async_topic" default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) --> <arg name="user_data_async_topic" default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->
@@ -257,6 +262,16 @@
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/> <param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/> <param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
</node> </node>
<node if="$(arg scan_cloud_assembling)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" output="screen">
<remap if="$(arg scan_cloud_filtered)" from="cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg scan_cloud_filtered)" from="cloud" to="$(arg scan_cloud_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<param name="assembling_time" type="double" value="$(arg scan_cloud_assembling_time)"/>
<param name="fixed_frame_id" type="string" value="$(arg scan_cloud_assembling_fixed_frame)"/>
<param name="voxel_size" type="double" value="$(arg scan_cloud_assembling_voxel_size)"/>
</node>
<!-- Visual SLAM (robot side) --> <!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" --> <!-- args: "delete_db_on_start" and "udebug" -->
@@ -301,8 +316,9 @@
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/> <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/> <remap from="scan" to="$(arg scan_topic)"/>
<remap if="$(arg scan_cloud_filtered)" from="scan_cloud" to="odom_filtered_input_scan"/> <remap if="$(eval scan_cloud_assembling)" from="scan_cloud" to="assembled_cloud"/>
<remap unless="$(arg scan_cloud_filtered)" from="scan_cloud" to="$(arg scan_cloud_topic)"/> <remap if="$(eval scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap if="$(eval not scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="user_data" to="$(arg user_data_topic)"/> <remap from="user_data" to="$(arg user_data_topic)"/>
<remap from="user_data_async" to="$(arg user_data_async_topic)"/> <remap from="user_data_async" to="$(arg user_data_async_topic)"/>
<remap from="gps/fix" to="$(arg gps_topic)"/> <remap from="gps/fix" to="$(arg gps_topic)"/>
src/nodelets/point_cloud_assembler.cpp
+11
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@@ -116,6 +116,17 @@ private:
pnh.param("subscribe_odom_info", subscribeOdomInfo, subscribeOdomInfo); pnh.param("subscribe_odom_info", subscribeOdomInfo, subscribeOdomInfo);
ROS_ASSERT(maxClouds_>0 || assemblingTime_ >0.0); ROS_ASSERT(maxClouds_>0 || assemblingTime_ >0.0);
ROS_INFO("%s: queue_size=%d", getName().c_str(), queueSize);
ROS_INFO("%s: fixed_frame_id=%s", getName().c_str(), fixedFrameId_.c_str());
ROS_INFO("%s: max_clouds=%d", getName().c_str(), maxClouds_);
ROS_INFO("%s: assembling_time=%fs", getName().c_str(), assemblingTime_);
ROS_INFO("%s: skip_clouds=%d", getName().c_str(), skipClouds_);
ROS_INFO("%s: circular_buffer=%s", getName().c_str(), circularBuffer_?"true":"false");
ROS_INFO("%s: wait_for_transform_duration=%f", getName().c_str(), waitForTransformDuration_);
ROS_INFO("%s: range_min=%f", getName().c_str(), rangeMin_);
ROS_INFO("%s: range_max=%f", getName().c_str(), rangeMax_);
ROS_INFO("%s: voxel_size=%fm", getName().c_str(), voxelSize_);
cloudsSkipped_ = skipClouds_; cloudsSkipped_ = skipClouds_;
std::string subscribedTopicsMsg; std::string subscribedTopicsMsg;