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Odom: don't update previousStamp on IMU updates, updated euroc_datasets.launch with okvis example

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This commit is contained in:
matlabbe
2019-03-20 22:12:30 -04:00
parent 8d84cfd1bf
commit ec02608e01
4 changed files with 17 additions and 15 deletions
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launch/tests/euroc_datasets.launch
+9 -1
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@@ -18,9 +18,17 @@ Examples:
$ roslaunch rtabmap_ros euroc_datasets.launch args:="-d RGBD/CreateOccupancyGrid false Odom/Strategy 8" MH_seq:=true
$ rosbag play -.-clock -s 24 MH_01_easy.bag
OKVIS (VIO):
$ roslaunch rtabmap_ros euroc_datasets.launch args:="-d RGBD/CreateOccupancyGrid false Odom/Strategy 6 OdomOKVIS/ConfigPath ~/okvis/config/config_fpga_p2_euroc.yaml" MH_seq:=true raw_images_for_odom:=true
$ rosbag play -.-clock MH_01_easy.bag
VINS (VIO):
$ roslaunch rtabmap_ros euroc_datasets.launch args:="-d RGBD/CreateOccupancyGrid false Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml" MH_seq:=true raw_images_for_odom:=true
$ rosbag play -.-clock MH_01_easy.bag
VINS (VO):
$ roslaunch rtabmap_ros euroc_datasets.launch args:="-d RGBD/CreateOccupancyGrid false Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml" MH_seq:=true raw_images_for_odom:=true
$ rosbag play -.-clock MH_01_easy.bag
-->
<param name="use_sim_time" value="true"/>
@@ -29,7 +37,7 @@ Examples:
<arg name="cfg" default=""/>
<arg name="MH_seq" default="false"/> <!-- For MH sequences, the ground truth is coming from a different topic -->
<arg name="raw_images_for_odom" default="false"/>
<arg name="record_ground_truth" default="true"/>
<arg name="record_ground_truth" default="false"/>
<arg name="rtabmapviz" default="true"/>
<arg name="rviz" default="false"/>
launch/tests/test_velodyne.launch
+4 -5
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@@ -5,15 +5,14 @@
Hand-held 3D lidar mapping example using only a Velodyne PUCK (no camera).
Prerequisities: rtabmap should be built with libpointmatcher
Example:
$ roslaunch velodyne_pointcloud VLP16_points.launch rpm:=600
$ roslaunch rtabmap_ros test_velodyne.launch
$ rosrun rviz rviz -f map
$ Show TF and /rtabmap/cloud_map topics
-->
<arg name="rtabmapviz" default="true"/>
<arg name="use_imu" default="false"/> <!-- Assuming IMU fixed to lidar and the top of the lidar always points to the ceiling -->
<arg name="imu_topic" default="/data/imu"/>
<arg name="use_imu" default="false"/> <!-- Assuming IMU fixed to lidar with /velodyne -> /imu_link TF -->
<arg name="imu_topic" default="/imu/data"/>
<arg name="scan_20_hz" default="false"/> <!-- If we launch the velodyne with "rpm:=1200" argument -->
<arg name="use_sim_time" default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
@@ -27,7 +26,7 @@
<!-- IMU orientation estimation and publish tf accordingly to os1_sensor frame -->
<node if="$(arg use_imu)" pkg="rtabmap_ros" type="imu_to_tf" name="imu_to_tf">
<remap from="imu/data" to="/imu/data"/>
<remap from="imu/data" to="$(arg imu_topic)"/>
<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
<param name="base_frame_id" value="$(arg frame_id)"/>
</node>
@@ -40,7 +39,7 @@
<param if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
<remap if="$(arg use_imu)" from="imu" to="/imu/data"/>
<remap if="$(arg use_imu)" from="imu" to="$(arg imu_topic)"/>
<param if="$(arg use_imu)" name="guess_frame_id" type="string" value="$(arg frame_id)_stabilized"/>
<param if="$(arg use_imu)" name="wait_imu_to_init" type="bool" value="true"/>