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Updated main launch files for 0.11

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matlabbe
2016-03-11 16:57:49 -05:00
parent af87689718
commit fdbac13a77
4 changed files with 63 additions and 61 deletions
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launch/rgbd_mapping.launch
+23 -23
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@@ -36,15 +36,15 @@
<arg name="wait_for_transform" default="0.1"/>
<!-- Odometry parameters: -->
<arg name="strategy" default="0" /> <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
<arg name="strategy" default="0" /> <!-- Strategy: 0=Frame-to-Map 1=Frame-to-Frame -->
<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 -->
<arg name="estimation" default="0" /> <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
<arg name="nn" default="3" /> <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE (SIFT, SURF), 2=FLANN_LSH, 3=BRUTEFORCE (ORB/FREAK/BRIEF/BRISK) -->
<arg name="nn" default="3" /> <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE -->
<arg name="max_depth" default="0" /> <!-- Maximum features depth (m) -->
<arg name="min_inliers" default="20" /> <!-- Minimum visual correspondences to accept a transformation (m) -->
<arg name="inlier_distance" default="0.1" /> <!-- RANSAC maximum inliers distance (m) -->
<arg name="local_map" default="1000" /> <!-- Local map size: number of unique features to keep track -->
<arg name="variance_inliers" default="true"/> <!-- Variance from inverse of inliers count -->
<arg name="variance_inliers" default="true"/> <!-- Variance from inverse of inliers count -->
<!-- Nodes -->
<group ns="$(arg namespace)">
@@ -53,7 +53,7 @@
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_registered_topic) raw out:=$(arg depth_registered_topic)" />
<!-- Odometry -->
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_registered_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -62,15 +62,15 @@
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="Odom/EstimationType" type="string" value="$(arg estimation)"/>
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
<param name="Vis/EstimationType" type="string" value="$(arg estimation)"/>
<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="true"/>
<param name="Odom/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
<param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
</node>
<!-- Visual SLAM (robot side) -->
@@ -87,13 +87,13 @@
<remap from="scan" to="$(arg scan_topic)"/>
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="LccBow/EstimationType" type="string" value="$(arg estimation)"/>
<param name="LccBow/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
<param name="Mem/SaveDepth16Format" type="string" value="$(arg convert_depth_to_mm)"/>
<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="Vis/EstimationType" type="string" value="$(arg estimation)"/>
<param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
<param name="Mem/SaveDepth16Format" type="string" value="$(arg convert_depth_to_mm)"/>
<!-- when 2D scan is set -->
<param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D" type="string" value="true"/>
@@ -104,10 +104,10 @@
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>