Updated rtabmap_examples launch files with new structure

rtabmap_examples/launch/config/euroc_left.yaml

@@ -0,0 +1,30 @@
+#%YAML:1.0
+---
+camera_name: MH_01_easy_left
+image_width: 752
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 4.5865400000000000e+02, 0., 3.6721499999999997e+02, 0.,
+       4.5729599999999999e+02, 2.4837500000000000e+02, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -2.8340810999999999e-01, 7.3959070000000002e-02,
+       1.9358999999999999e-04, 1.7618711400000001e-05 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 9.9996634750298619e-01, -1.4227432298321767e-03,
+       8.0795831104762770e-03, 1.3657459036274155e-03,
+       9.9997417608074302e-01, 7.0556296505566432e-03,
+       -8.0894128132919258e-03, -7.0443575534647465e-03,
+       9.9994246755850658e-01 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02, 0., 0.,
+       4.3520469597145990e+02, 2.5220085144042969e+02, 0., 0., 0., 1.,
+       0. ]

rtabmap_examples/launch/config/euroc_right.yaml

@@ -0,0 +1,30 @@
+#%YAML:1.0
+---
+camera_name: MH_01_easy_right
+image_width: 752
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 4.5758699999999999e+02, 0., 3.7999900000000002e+02, 0.,
+       4.5613400000000001e+02, 2.5523800000000000e+02, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -2.8368365000000001e-01, 7.4512839999999997e-02,
+       -1.0473000000000000e-04, -3.5559070000000001e-05 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 9.9996335257946345e-01, -3.6258159819210472e-03,
+       7.7554468926514068e-03, 3.6804026836554193e-03,
+       9.9996847525904631e-01, -7.0358456623254633e-03,
+       -7.7296917225483383e-03, 7.0641309842873097e-03,
+       9.9994517345668066e-01 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02,
+       -4.7906395664848930e+01, 0., 4.3520469597145990e+02,
+       2.5220085144042969e+02, 0., 0., 0., 1., 0. ]

rtabmap_examples/launch/config/rgbdslam_datasets.rviz

@@ -143,7 +143,7 @@ Visualization Manager:
         Value: true
       Axis: Z
       Channel Name: intensity
-      Class: rtabmap_ros/MapCloud
+      Class: rtabmap_rviz_plugins/MapCloud
       Cloud decimation: 4
       Cloud max depth (m): 4
       Cloud voxel size (m): 0.01
@@ -169,7 +169,7 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Class: rtabmap_ros/Info
+    - Class: rtabmap_rviz_plugins/Info
       Enabled: true
       Name: Info
       Topic: /rtabmap/info

rtabmap_examples/launch/config/tag_settings.yaml

@@ -0,0 +1,14 @@
+# AprilTags 2 code parameters
+# Find descriptions in apriltags2/include/apriltag.h:struct apriltag_detector
+#                      apriltags2/include/apriltag.h:struct apriltag_family
+tag_family:        'tag36h11' # options: tag36h11, tag36h10, tag25h9, tag25h7, tag16h5
+tag_border:        1          # default: 1
+tag_threads:       2          # default: 2
+tag_decimate:      1.0        # default: 1.0
+tag_blur:          0.0        # default: 0.0
+tag_refine_edges:  1          # default: 1
+tag_refine_decode: 0          # default: 0
+tag_refine_pose:   0          # default: 0
+tag_debug:         0          # default: 0
+# Other parameters
+publish_tf:        true       # default: false

rtabmap_examples/launch/config/tags.yaml

@@ -0,0 +1,59 @@
+# # Definitions of tags to detect
+#
+# ## General remarks
+#
+# - All length in meters
+# - Ellipsis (...) signifies that the previous element can be repeated multiple times.
+#
+# ## Standalone tag definitions
+# ### Remarks
+#
+# - name is optional
+#
+# ### Syntax
+#
+# standalone_tags:
+#   [
+#     {id: ID, size: SIZE, name: NAME},
+#     ...
+#   ]
+standalone_tags:
+  [
+  ]
+# ## Tag bundle definitions
+# ### Remarks
+#
+# - name is optional
+# - x, y, z have default values of 0 thus they are optional
+# - qw has default value of 1 and qx, qy, qz have default values of 0 thus they are optional
+#
+# ### Syntax
+#
+# tag_bundles:
+#   [
+#     {
+#       name: 'CUSTOM_BUNDLE_NAME',
+#       layout:
+#         [
+#           {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
+#           ...
+#         ]
+#     },
+#     ...
+#   ]
+tag_bundles:
+   [
+     {
+       name: 'tag_bundle1',
+       layout:
+         [
+           # for a pixel = ~8mm
+           {id: 1,   size: 0.0620, x: 0.0000, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 2,   size: 0.0620, x: 0.0770, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 25,  size: 0.0620, x: 0.0000, y: -0.0770, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 26,  size: 0.0620, x: 0.0770, y: -0.0770, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 49,  size: 0.0620, x: 0.0000, y: -0.1540, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 50,  size: 0.0620, x: 0.0770, y: -0.1540, z: 0, qw: 1, qx: 0, qy: 0, qz: 0}
+         ]
+     },
+   ]