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Updated az3_mapping_robot_nav.launch for 0.11. Added az3_mapping_robot_nav_kinect-only.launch.

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matlabbe
2016-03-15 17:06:05 -04:00
parent f20b55a756
commit f80b48bee9
2 changed files with 206 additions and 44 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+45 -44
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@@ -1,8 +1,10 @@
<launch>
<!-- args: "delete_db_on_start" and "udebug" -->
<arg name="rtabmap_args" default="" />
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
@@ -13,61 +15,61 @@
<!-- SLAM (robot side) -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="use_action_for_goal" type="bool" value="true"/>
<param name="cloud_decimation" type="int" value="1"/> <!-- we already decimate in memory below -->
<param name="grid_eroded" type="bool" value="true"/>
<param name="grid_cell_size" type="double" value="0.05"/>
<param name="cloud_decimation" type="int" value="1"/> <!-- we already decimate in memory below -->
<param name="grid_eroded" type="bool" value="true"/>
<param name="grid_cell_size" type="double" value="0.05"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="mapData" to="mapData"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="goal_out" to="current_goal"/>
<remap from="goal_out" to="current_goal"/>
<remap from="move_base" to="/planner/move_base"/>
<remap from="grid_map" to="/map"/>
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters -->
<param name="RGBD/PoseScanMatching" type="string" value="true"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="LccIcp/Type" type="string" value="2"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LocalRadius" type="string" value="5"/>
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
<param name="RGBD/LocalRadius" type="string" value="5"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Mem/ImageDecimation" type="string" value="4"/>
<param name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="false"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Mem/ImageDecimation" type="string" value="4"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="Rtabmap/TimeThr" type="string" value="600"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
<param name="Rtabmap/TimeThr" type="string" value="600"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Bayes/PredictionLC" type="string" value="0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.00035"/>
<param name="RGBD/OptimizeSlam2d" type="string" value="true"/>
<param name="RGBD/OptimizeIterations" type="string" value="100"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/NNStrategy" type="string" value="1"/>
<param name="Optimizer/Strategy" type="string" value="1"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/MaxFeatures" type="string" value="200"/>
<param name="SURF/HessianThreshold" type="string" value="500"/>
<param name="LccBow/Force2D" type="string" value="true"/>
<param name="LccBow/MaxDepth" type="string" value="5"/>
<param name="LccBow/MinInliers" type="string" value="5"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="5"/>
<param name="Vis/MinInliers" type="string" value="5"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
</group>
@@ -86,10 +88,9 @@
<remap from="ground_cloud" to="/ground_cloud"/>
<remap from="map" to="/map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/>
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
@@ -130,7 +131,7 @@
<remap from="depth/camera_info" to="data_resized_camera_info"/>
<remap from="cloud" to="cloudXYZ" />
<param name="decimation" type="int" value="1"/> <!-- already decimated above -->
<param name="max_depth" type="double" value="3.0"/>
<param name="max_depth" type="double" value="3.0"/>
<param name="voxel_size" type="double" value="0.02"/>
</node>
@@ -139,10 +140,10 @@
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.4"/>
</node>
</group>