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Updated demo_turtlebot_mapping.launch for 0.11

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matlabbe
2016-03-11 22:08:18 -05:00
parent 43afe918e8
commit ea459567c6
1 changed files with 16 additions and 18 deletions
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launch/demo/demo_turtlebot_mapping.launch
+16 -18
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@@ -25,9 +25,13 @@
<arg name="localization" default="false"/> <arg name="localization" default="false"/>
<arg name="rgbd_odometry" default="false"/> <arg name="rgbd_odometry" default="false"/>
<arg name="args" default=""/> <arg name="args" default=""/>
<arg name="version083" default="false"/>
<arg name="rtabmapviz" default="false"/> <arg name="rtabmapviz" default="false"/>
<arg name="wait_for_transform" default="0.1"/>
<arg name="wait_for_transform" default="0.2"/>
<!--
robot_state_publisher's publishing frequency in "turtlebot_bringup/launch/includes/robot.launch.xml"
can be increase from 5 to 10 Hz to avoid some TF warnings.
-->
<!-- Navigation stuff (move_base) --> <!-- Navigation stuff (move_base) -->
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/> <include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
@@ -42,7 +46,7 @@
<param name="odom_frame_id" type="string" value="odom"/> <param name="odom_frame_id" type="string" value="odom"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/> <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/> <param name="subscribe_scan" type="bool" value="true"/>
<!-- inputs --> <!-- inputs -->
<remap from="scan" to="/scan"/> <remap from="scan" to="/scan"/>
@@ -51,17 +55,16 @@
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<!-- output --> <!-- output -->
<remap unless="$(arg version083)" from="grid_map" to="/map"/> <remap from="grid_map" to="/map"/>
<!-- <remap unless="$(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. --> <!-- 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 --> <param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom --> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
<param name="Kp/MaxDepth" type="string" value="4.0"/> <param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D --> <param name="Reg/Strategy" type="string" value="1"/> <!-- Loop closure transformation refining with ICP: 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.3"/> <param name="Icp/CoprrespondenceRatio" type="string" value="0.3"/>
<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure --> <param name="Vis/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance --> <param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving --> <param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving --> <param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
@@ -77,22 +80,17 @@
<node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen"> <node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/> <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="Odom/Force2D" type="string" value="true"/> <param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Odom/InlierDistance" type="string" value="0.05"/> <param name="Vis/InlierDistance" type="string" value="0.05"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/> <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/> <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node> </node>
<!-- backward compatibility with hydro 0.8.3 only -->
<node if="$(arg version083)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
<remap from="grid_map" to="/map"/>
</node>
<!-- visualization with rtabmapviz --> <!-- visualization with rtabmapviz -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen"> <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/> <param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/> <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>