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updated az3_mapping_*_nav.launch files

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Mathieu Labbe
2015-02-03 17:29:59 -05:00
parent 85268d5d42
commit f99b114630
2 changed files with 22 additions and 9 deletions
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launch/azimut3/az3_mapping_client_nav.launch
+22 -8
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@@ -1,17 +1,24 @@
<launch> <launch>
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use --> <!-- Choose visualization -->
<!-- a relay on this machine, same for images --> <arg name="rviz" default="true" />
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/> <arg name="rtabmapviz" default="false" />
<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" /> <group ns="rtabmap">
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" /> <!-- 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="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="odom" to="/base_controller/odom"/>
</node>
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/> <!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency --> <!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb"> <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/> <remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/> <remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/> <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
@@ -20,4 +27,11 @@
<param name="queue_size" type="int" value="10"/> <param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/> <param name="voxel_size" type="double" value="0.01"/>
</node> </node>
<!-- use a relay on this machine, same for images -->
<node if="$(arg rviz)" name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
<node if="$(arg rviz)" name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
<node if="$(arg rviz)" name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
<node if="$(arg rviz)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
</launch> </launch>
launch/azimut3/az3_mapping_robot_nav.launch
-1
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@@ -115,7 +115,6 @@
<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/> <param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/WordsPerImage" type="string" value="200"/> <param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Kp/NNStrategy" type="string" value="1"/> <param name="Kp/NNStrategy" type="string" value="1"/>
<param name="Bayes/FullPredictionUpdate" type="string" value="false"/> <param name="Bayes/FullPredictionUpdate" type="string" value="false"/>