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rtabmap.launch: added gen_depth and subscribe_rgb arguments. demo_husky.launch: added example with RGB-only + 3D lidar (generating depth image from lidar reprojection into RGB camera).

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matlabbe
2021-06-28 10:56:37 -04:00
parent 35f31634a6
commit eb6bc7ff5c
2 changed files with 33 additions and 5 deletions
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launch/demo/demo_husky.launch
+18 -3
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@@ -31,9 +31,15 @@
8) 3DoF mapping with 2D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true
9) 3DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
9) 3DoF mapping with 2D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true icp_odometry:=true
10) 6DoF mapping with 3D LiDAR and RGB camera (depth generated by lidar projection) and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true depth_from_lidar:=true rtabmapviz:=true
11) 3DoF mapping with 3D LiDAR and RGB camera (depth generated by lidar projection) and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true icp_odometry:=true depth_from_lidar:=true rtabmapviz:=true
Issues:
When setting icp_odometry:=true with navigation, sending a goal to move_base could cause errors like:
"Extrapolation Error: Lookup would require extrapolation into the future. Requested
@@ -51,6 +57,7 @@
<arg name="lidar3d" default="false"/>
<arg name="lidar3d_ray_tracing" default="true"/>
<arg name="slam2d" default="true"/>
<arg name="depth_from_lidar" default="false"/>
<arg if="$(arg lidar3d)" name="cell_size" default="0.2"/>
@@ -82,13 +89,21 @@
<arg name="scan_cloud_topic" value="/velodyne_points" />
<!-- If camera is used -->
<arg name="depth" value="$(arg camera)" />
<arg name="rgbd_sync" value="$(arg camera)" />
<arg name="depth" value="$(eval camera and not depth_from_lidar)" />
<arg name="subscribe_rgb" value="$(eval camera)" />
<arg name="rgbd_sync" value="$(eval camera and not depth_from_lidar)" />
<arg name="rgb_topic" value="/realsense/color/image_raw" />
<arg name="camera_info_topic" value="/realsense/color/camera_info" />
<arg name="depth_topic" value="/realsense/depth/image_rect_raw" />
<arg name="approx_rgbd_sync" value="false" />
<!-- If depth generated from lidar projection (in case we have only a single RGB camera with a 3D lidar) -->
<arg name="gen_depth" value="$(arg depth_from_lidar)" />
<arg name="gen_depth_decimation" value="4" />
<arg name="gen_depth_fill_holes_size" value="3" />
<arg name="gen_depth_fill_iterations" value="1" />
<arg name="gen_depth_fill_holes_error" value="0.3" />
<!-- If icp_odometry is used -->
<arg if="$(arg icp_odometry)" name="icp_odometry" value="true" />
<arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" />