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ros: added az3_mapping_robot_stereo.launch

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1851 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-13 20:31:55 +00:00
parent c0b0219e9e
commit f90f6ea273
1 changed files with 97 additions and 0 deletions
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launch/azimut3/az3_mapping_robot_stereo.launch
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<launch>
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- "Disable" odometry from azimut3 -->
<group ns="base_controller">
<param name="odom_frame_id" type="string" value="az3_odom"/>
<param name="base_frame_id" type="string" value="az3_base_link"/>
</group>
<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
<!-- Stereo camera -->
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
<param name="video_mode" value="format7_mode3" />
<param name="format7_color_coding" value="raw16" />
<param name="bayer_pattern" value="bggr" />
<param name="bayer_method" value="" />
<param name="stereo_method" value="Interlaced" />
<param name="camera_info_url_left" value="" />
<param name="camera_info_url_right" value="" />
</node>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_base_link"
args="0 0 66 0 0 0 base_link stereo_camera_base 100" />
<!-- Run the ROS package stereo_image_proc for image rectification and disparity computation -->
<group ns="/stereo_camera" >
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap/disparity_to_depth"/>
</group>
<!-- Visual Odometry -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="base_footprint"/>
<param name="odom_frame_id" value="/base_controller/odom"/>
<param name="ref_frame_change_method" value="1"/>
</node>
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="depth/image" to="/stereo_camera/depth"/>
<remap from="odom" to="/base_controller/odom"/>
<param name="queue_size" type="int" value="30"/>
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/DetectorStrategy" type="string" value="6"/>
<param name="NN/NNStrategy" type="string" value="3"/>
<param name="GFTT/MaxCorners" type="string" value="200"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="3"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
</group>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="standalone rtabmap/data_odom_sync">
<remap from="rgb/image_in" to="/stereo_camera/left/image_rect_color"/>
<remap from="depth/image_in" to="/stereo_camera/depth"/>
<remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
<remap from="odom_in" to="/base_controller/odom"/>
<remap from="rgb/image_out" to="/camera/data_throttled_image"/>
<remap from="depth/image_out" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="/camera/data_throttled_camera_info"/>
<remap from="odom_out" to="odom_sync"/>
<param name="queue_size" type="int" value="30"/>
</node>
</launch>