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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 8) 3DoF mapping with 2D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true $ 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 $ 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: Issues:
When setting icp_odometry:=true with navigation, sending a goal to move_base could cause errors like: 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 "Extrapolation Error: Lookup would require extrapolation into the future. Requested
@@ -51,6 +57,7 @@
<arg name="lidar3d" default="false"/> <arg name="lidar3d" default="false"/>
<arg name="lidar3d_ray_tracing" default="true"/> <arg name="lidar3d_ray_tracing" default="true"/>
<arg name="slam2d" default="true"/> <arg name="slam2d" default="true"/>
<arg name="depth_from_lidar" default="false"/>
<arg if="$(arg lidar3d)" name="cell_size" default="0.2"/> <arg if="$(arg lidar3d)" name="cell_size" default="0.2"/>
@@ -82,13 +89,21 @@
<arg name="scan_cloud_topic" value="/velodyne_points" /> <arg name="scan_cloud_topic" value="/velodyne_points" />
<!-- If camera is used --> <!-- If camera is used -->
<arg name="depth" value="$(arg camera)" /> <arg name="depth" value="$(eval camera and not depth_from_lidar)" />
<arg name="rgbd_sync" value="$(arg camera)" /> <arg name="subscribe_rgb" value="$(eval camera)" />
<arg name="rgbd_sync" value="$(eval camera and not depth_from_lidar)" />
<arg name="rgb_topic" value="/realsense/color/image_raw" /> <arg name="rgb_topic" value="/realsense/color/image_raw" />
<arg name="camera_info_topic" value="/realsense/color/camera_info" /> <arg name="camera_info_topic" value="/realsense/color/camera_info" />
<arg name="depth_topic" value="/realsense/depth/image_rect_raw" /> <arg name="depth_topic" value="/realsense/depth/image_rect_raw" />
<arg name="approx_rgbd_sync" value="false" /> <arg name="approx_rgbd_sync" value="false" />
<!-- If depth generated from lidar projection (in case we have only a single RGB camera with a 3D lidar) -->
<arg name="gen_depth" value="$(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 --> <!-- If icp_odometry is used -->
<arg if="$(arg icp_odometry)" name="icp_odometry" value="true" /> <arg if="$(arg icp_odometry)" name="icp_odometry" value="true" />
<arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" /> <arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" />
launch/rtabmap.launch
+15 -2
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@@ -18,6 +18,7 @@
<arg name="stereo" default="false"/> <arg name="stereo" default="false"/>
<arg if="$(arg stereo)" name="depth" default="false"/> <arg if="$(arg stereo)" name="depth" default="false"/>
<arg unless="$(arg stereo)" name="depth" default="true"/> <arg unless="$(arg stereo)" name="depth" default="true"/>
<arg name="subscribe_rgb" default="$(arg depth)"/>
<!-- Choose visualization --> <!-- Choose visualization -->
<arg name="rtabmapviz" default="true" /> <arg name="rtabmapviz" default="true" />
@@ -92,6 +93,12 @@
<arg name="scan_cloud_max_points" default="0"/> <arg name="scan_cloud_max_points" default="0"/>
<arg name="scan_cloud_filtered" default="false"/> <!-- use filtered cloud from icp_odometry for mapping --> <arg name="scan_cloud_filtered" default="false"/> <!-- use filtered cloud from icp_odometry for mapping -->
<arg name="gen_scan" default="false"/> <!-- only works with depth image and if not subscribing to scan topic--> <arg name="gen_scan" default="false"/> <!-- only works with depth image and if not subscribing to scan topic-->
<arg name="gen_depth" default="false" /> <!-- Generate depth image from scan_cloud -->
<arg name="gen_depth_decimation" default="1" />
<arg name="gen_depth_fill_holes_size" default="0" />
<arg name="gen_depth_fill_iterations" default="1" />
<arg name="gen_depth_fill_holes_error" default="0.1" />
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node --> <arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="icp_odometry" default="false"/> <!-- Launch rtabmap icp odometry node --> <arg name="icp_odometry" default="false"/> <!-- Launch rtabmap icp odometry node -->
@@ -299,7 +306,7 @@
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/> <param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/> <param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgb" type="bool" value="$(arg depth)"/> <param name="subscribe_rgb" type="bool" value="$(arg subscribe_rgb)"/>
<param name="subscribe_rgbd" type="bool" value="$(eval subscribe_rgbd or use_odom_features)"/> <param name="subscribe_rgbd" type="bool" value="$(eval subscribe_rgbd or use_odom_features)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/> <param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/> <param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
@@ -326,7 +333,12 @@
<param name="queue_size" type="int" value="$(arg queue_size)"/> <param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/> <param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
<param name="landmark_linear_variance" type="double" value="$(arg tag_linear_variance)"/> <param name="landmark_linear_variance" type="double" value="$(arg tag_linear_variance)"/>
<param name="landmark_angular_variance" type="double" value="$(arg tag_angular_variance)"/> <param name="landmark_angular_variance" type="double" value="$(arg tag_angular_variance)"/>
<param name="gen_depth" type="bool" value="$(arg gen_depth)" />
<param name="gen_depth_decimation" type="int" value="$(arg gen_depth_decimation)" />
<param name="gen_depth_fill_holes_size" type="int" value="$(arg gen_depth_fill_holes_size)" />
<param name="gen_depth_fill_iterations" type="int" value="$(arg gen_depth_fill_iterations)" />
<param name="gen_depth_fill_holes_error" type="double" value="$(arg gen_depth_fill_holes_error)" />
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/> <remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/> <remap from="depth/image" to="$(arg depth_topic_relay)"/>
@@ -362,6 +374,7 @@
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)"> <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/> <param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/> <param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgb" type="bool" value="$(arg subscribe_rgb)"/>
<param name="subscribe_rgbd" type="bool" value="$(eval subscribe_rgbd or use_odom_features)"/> <param name="subscribe_rgbd" type="bool" value="$(eval subscribe_rgbd or use_odom_features)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/> <param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param unless="$(arg icp_odometry)" name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/> <param unless="$(arg icp_odometry)" name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>