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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/jfr2018/launch_lidar
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@@ -1,5 +1,5 @@
// icp_odometry with guess from odom_combined frame
$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Reg/Force3DoF true --Reg/Strategy 1 --RGBD/ProximityPathMaxNeighbors 10 --RGBD/ProximityPathFilteringRadius 1 --RGBD/ProximityByTime false --Mem/STMSize 30 --Mem/LaserScanVoxelSize 0.05 --Mem/LaserScanNormalK 5 --Mem/LaserScanNormalRadius 1 --Icp/Epsilon 0.001 --Icp/MaxTranslation 0.5 --RGBD/OptimizeMaxError 1 --Icp/PointToPlane true --Icp/CorrespondenceRatio 0.10 --Icp/PMOutlierRatio 0.95 --Mem/BinDataKept true --Grid/RangeMax 0 --Kp/DetectorStrategy 0 --Kp/MaxFeatures 200 --SURF/HessianThreshold 100 --Vis/MaxFeatures 500 --Mem/UseOdomFeatures false" odom_args:="--Icp/VoxelSize 0.05 --Icp/PointToPlaneRadius 1 --Odom/GuessMotion true --Odom/Strategy 0" rgbd_sync:=true subscribe_scan:=true frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true visual_odometry:=false odom_guess_frame_id:=odom_combined odom_guess_min_translation:=0.1 odom_guess_min_rotation:=0.1 odom_topic:=odom icp_odometry:=true database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db
$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Reg/Force3DoF true --Reg/Strategy 1 --RGBD/ProximityPathMaxNeighbors 10 --RGBD/ProximityPathFilteringRadius 1 --RGBD/ProximityByTime false --Mem/STMSize 30 --Mem/LaserScanVoxelSize 0.05 --Icp/VoxelSize 0.0 --Mem/LaserScanNormalK 5 --Mem/LaserScanNormalRadius 1 --Icp/Epsilon 0.001 --Icp/MaxTranslation 0.5 --RGBD/OptimizeMaxError 1 --Icp/PointToPlane true --Icp/CorrespondenceRatio 0.10 --Icp/PMOutlierRatio 0.95 --Mem/BinDataKept true --Grid/RangeMax 0 --Kp/DetectorStrategy 0 --Kp/MaxFeatures 200 --SURF/HessianThreshold 100 --Vis/MaxFeatures 500 --Mem/UseOdomFeatures false" odom_args:="--Icp/VoxelSize 0.05 --Icp/PointToPlaneRadius 1 --Odom/GuessMotion true --Odom/Strategy 0" rgbd_sync:=true subscribe_scan:=true frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true visual_odometry:=false odom_guess_frame_id:=odom_combined odom_guess_min_translation:=0.1 odom_guess_min_rotation:=0.1 odom_topic:=odom icp_odometry:=true database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db
// proximity space short range
scan_topic:=/base_scan_t_filtered
// proximity space longer range