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updated demo_hector_mapping.launch with odom_guess and camera options (also enabled proximity detection and updated icp parameters)

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matlabbe
2021-03-01 11:27:43 -05:00
parent fe17d86870
commit e27d939544
3 changed files with 27 additions and 9 deletions
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launch/demo/demo_hector_mapping.launch
+25 -8
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@@ -14,6 +14,17 @@
<!-- Choose hector_slam or icp_odometry for odometry -->
<arg name="hector" default="true" />
<!-- If "hector" above is false, this option feeds wheel odometry to
icp_odometry as guess ( to be more robust to corridor-like environments).
If so, use original demo_mapping.bag containing wheel odometry! -->
<arg name="odom_guess" default="false" />
<!-- Example with camera or not -->
<arg name="camera" default="true" />
<!-- Example with camera or not -->
<param name="use_sim_time" type="bool" value="True"/>
<node if="$(arg hector)" pkg="tf" type="static_transform_publisher" name="scanmatcher_to_base_footprint"
@@ -22,7 +33,7 @@
<!-- Odometry from laser scans -->
<!-- If argument "hector" is true, we use Hector mapping to generate odometry for us -->
<node if="$(arg hector)" pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="hector_map" />
<param name="base_frame" value="base_footprint" />
@@ -51,7 +62,10 @@
<remap from="odom" to="/scanmatch_odom"/>
<remap from="odom_info" to="/rtabmap/odom_info"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param if="$(arg odom_guess)" name="odom_frame_id" type="string" value="icp_odom"/>
<param if="$(arg odom_guess)" name="guess_frame_id" type="string" value="odom"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0.05"/>
@@ -60,7 +74,7 @@
<param name="Icp/PointToPlaneRadius" type="string" value="0.3"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="0.1"/>
<param name="Icp/PM" type="string" value="true"/> <!-- use libpointmatcher to handle PointToPlane with 2d scans-->
<param name="Icp/PMOutlierRatio" type="string" value="0.95"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.85"/>
<param name="Odom/Strategy" type="string" value="0"/>
<param name="Odom/GuessMotion" type="string" value="true"/>
<param name="Odom/ResetCountdown" type="string" value="0"/>
@@ -68,7 +82,7 @@
</node>
<group ns="rtabmap">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
@@ -81,8 +95,9 @@
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="subscribe_rgbd" type="bool" value="$(arg camera)"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="scan" to="/jn0/base_scan"/>
@@ -98,12 +113,14 @@
<!-- RTAB-Map's parameters -->
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="RGBD/ProximityBySpace" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.2"/>
<param name="Icp/VoxelSize" type="string" value="0.05"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="subscribe_rgbd" type="bool" value="$(arg camera)"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
@@ -120,7 +137,7 @@
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgbd_image" to="/rtabmap/rgbd_image"/>
<remap from="cloud" to="voxel_cloud" />