mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Updated main launch files for 0.11
This commit is contained in:
matlabbe
+23
-23
@@ -36,15 +36,15 @@
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<arg name="wait_for_transform" default="0.1"/>
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<!-- Odometry parameters: -->
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<arg name="strategy" default="0" /> <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
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<arg name="strategy" default="0" /> <!-- Strategy: 0=Frame-to-Map 1=Frame-to-Frame -->
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<arg name="feature" default="6" /> <!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK -->
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<arg name="estimation" default="0" /> <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
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<arg name="nn" default="3" /> <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE (SIFT, SURF), 2=FLANN_LSH, 3=BRUTEFORCE (ORB/FREAK/BRIEF/BRISK) -->
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<arg name="nn" default="3" /> <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE -->
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<arg name="max_depth" default="0" /> <!-- Maximum features depth (m) -->
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<arg name="min_inliers" default="20" /> <!-- Minimum visual correspondences to accept a transformation (m) -->
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<arg name="inlier_distance" default="0.1" /> <!-- RANSAC maximum inliers distance (m) -->
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<arg name="local_map" default="1000" /> <!-- Local map size: number of unique features to keep track -->
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<arg name="variance_inliers" default="true"/> <!-- Variance from inverse of inliers count -->
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<arg name="variance_inliers" default="true"/> <!-- Variance from inverse of inliers count -->
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<!-- Nodes -->
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<group ns="$(arg namespace)">
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@@ -53,7 +53,7 @@
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<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_registered_topic) raw out:=$(arg depth_registered_topic)" />
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<!-- Odometry -->
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="depth/image" to="$(arg depth_registered_topic)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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@@ -62,15 +62,15 @@
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
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<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
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<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
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<param name="Odom/EstimationType" type="string" value="$(arg estimation)"/>
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<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
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<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
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<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
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<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
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<param name="Vis/EstimationType" type="string" value="$(arg estimation)"/>
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<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
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<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
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<param name="Odom/FillInfoData" type="string" value="true"/>
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<param name="Odom/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
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<param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
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</node>
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<!-- Visual SLAM (robot side) -->
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@@ -87,13 +87,13 @@
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<remap from="scan" to="$(arg scan_topic)"/>
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<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
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<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="LccBow/EstimationType" type="string" value="$(arg estimation)"/>
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<param name="LccBow/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
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<param name="Mem/SaveDepth16Format" type="string" value="$(arg convert_depth_to_mm)"/>
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<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
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<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="Vis/EstimationType" type="string" value="$(arg estimation)"/>
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<param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
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<param name="Mem/SaveDepth16Format" type="string" value="$(arg convert_depth_to_mm)"/>
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<!-- when 2D scan is set -->
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<param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D" type="string" value="true"/>
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@@ -104,10 +104,10 @@
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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@@ -30,7 +30,7 @@
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<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
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<!-- ODOMETRY MAIN ARGUMENTS:
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-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
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-"strategy" : Strategy: Frame-to-Map 1=Frame-To-Frame
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-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
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-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
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Set to 1 for float descriptor like SIFT/SURF
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@@ -63,14 +63,14 @@
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<param name="approx_sync" type="bool" value="true"/>
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<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
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<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
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<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
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<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
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<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
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<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
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<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
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<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
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<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
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<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
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<param name="Odom/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
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<param name="Vis/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
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<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
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</node>
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@@ -86,8 +86,8 @@
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<param name="approx_sync" type="bool" value="true"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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</node>
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<!-- Visualisation RTAB-Map -->
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@@ -76,7 +76,7 @@
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<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
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<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
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<remap from="depth/image" to="$(arg depth_topic_relay)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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@@ -93,7 +93,7 @@
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<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
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<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
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<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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@@ -18,6 +18,7 @@
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<arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
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<arg name="database_path" default="~/.ros/rtabmap.db"/>
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<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
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<arg name="launch_prefix" default=""/>
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<arg name="stereo_namespace" default="/stereo_camera"/>
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<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
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@@ -26,6 +27,7 @@
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<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
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<arg name="approximate_sync" default="false"/> <!-- if timestamps of the stereo images are not synchronized -->
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<arg name="compressed" default="false"/>
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<arg name="convert_depth_to_mm" default="true"/>
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<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
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<arg name="scan_topic" default="/scan"/>
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@@ -37,15 +39,14 @@
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<arg name="wait_for_transform" default="0.1"/>
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<!-- Odometry parameters: -->
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<arg name="strategy" default="0" /> <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
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<arg name="strategy" default="0" /> <!-- Strategy: 0=Frame-to-Map 1=Frame-to-Frame -->
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<arg name="feature" default="6" /> <!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK -->
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<arg name="estimation" default="1" /> <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
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<arg name="nn" default="3" /> <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE (SIFT, SURF), 2=FLANN_LSH, 3=BRUTEFORCE (ORB/FREAK/BRIEF/BRISK) -->
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<arg name="nn" default="3" /> <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE 2=FLANN_LSH, 3=BRUTEFORCE -->
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<arg name="max_depth" default="0" /> <!-- Maximum features depth (m) -->
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<arg name="min_inliers" default="20" /> <!-- Minimum visual correspondences to accept a transformation (m) -->
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<arg name="inlier_distance" default="0.1" /> <!-- RANSAC maximum inliers distance (m) -->
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<arg name="local_map" default="1000" /> <!-- Local map size: number of unique features to keep track -->
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<arg name="odom_info_data" default="true" /> <!-- Fill odometry info messages with inliers/outliers data. -->
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<arg name="variance_inliers" default="true"/> <!-- Variance from inverse of inliers count -->
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<!-- Nodes -->
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@@ -55,7 +56,7 @@
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<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic)" />
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<!-- Odometry -->
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<remap from="left/image_rect" to="$(arg left_image_topic)"/>
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<remap from="right/image_rect" to="$(arg right_image_topic)"/>
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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@@ -65,21 +66,21 @@
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="approx_sync" type="bool" value="$(arg approximate_sync)"/>
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<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
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<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
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<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
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<param name="Odom/EstimationType" type="string" value="$(arg estimation)"/>
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<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
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<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
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<param name="Odom/FillInfoData" type="string" value="true"/>
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<param name="Odom/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
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<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
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<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
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<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
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<param name="Vis/EstimationType" type="string" value="$(arg estimation)"/>
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<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
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<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
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<param name="Odom/FillInfoData" type="string" value="true"/>
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<param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
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</node>
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<!-- Visual SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_scan)"/>
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@@ -95,12 +96,13 @@
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<remap from="scan" to="$(arg scan_topic)"/>
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<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
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<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="LccBow/EstimationType" type="string" value="$(arg estimation)"/>
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<param name="LccBow/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
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<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
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<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="Vis/EstimationType" type="string" value="$(arg estimation)"/>
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<param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
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<param name="Mem/SaveDepth16Format" type="string" value="$(arg convert_depth_to_mm)"/>
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<!-- when 2D scan is set -->
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<param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D" type="string" value="true"/>
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@@ -110,12 +112,12 @@
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</node>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<remap from="left/image_rect" to="$(arg left_image_topic)"/>
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