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Updated Info msg: changed localLoopClosureId for proximityDetectionId. point_cloud_xyzrgb nodelet: handling bgr and rgb encoding. Updated demo_find_object.launch with 0.11. MapsManager: Fixed grids generated with only one point.

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matlabbe
2016-03-11 20:16:52 -05:00
parent f0d91c5eac
commit f26c8b55eb
7 changed files with 75 additions and 30 deletions
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launch/demo/demo_find_object.launch
+36 -18
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@@ -1,8 +1,12 @@
<launch>
<param name="use_sim_time" type="bool" value="True"/>
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<param name="use_sim_time" type="bool" value="True"/>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
@@ -10,7 +14,7 @@
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
@@ -25,24 +29,39 @@
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/PoseScanMatching" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
<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="LccIcp2/CorrespondenceRatio" type="string" value="0.9"/>
<param name="LccIcp2/MaxFitness" type="string" value="0.1"/>
<param name="LccIcp2/Iterations" type="string" value="100"/>
<param name="LccIcp2/VoxelSize" type="string" value="0"/>
<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="LccBow/MaxDepth" type="string" value="4.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Proximity detection (using estimated position) with locations in WM -->
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
<param name="Reg/Strategy" type="string" value="1"/> <!-- Registration strategy: 0=visual, 1=ICP, 2=visual+ICP -->
<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
<param name="Icp/Iterations" type="string" value="30"/>
<param name="Icp/VoxelSize" type="string" value="0.025"/>
<param name="Vis/MinInliers" type="string" value="10"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="Vis/MaxDepth" type="string" value="4.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
</node>
<!-- Visualisation RTAB-Map -->
<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_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
</group>
<!-- send AZIMUT 3 urdf to param server -->
@@ -51,10 +70,9 @@
-->
<!-- Visualisation -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_find_object.rviz" output="screen"/>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_find_object.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>