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Merged Audio branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-06-24 17:19:34 +00:00
parent 6de31a4080
commit ffcfa9236c
79 changed files with 3608 additions and 1349 deletions
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rtabmap/launch/cameraOpenCV.launch
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<launch>
<!-- Nodes -->
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<param name="device_id" value="0" type="int"/>
<param name="image_hz" value="5.0" type="double"/>
<param name="image_width" value="640" type="int"/>
<param name="image_height" value="480" type="int"/>
</node>
</launch>
rtabmap/launch/loop_closure_detection_with_audio.launch
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<launch>
<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION : with sensorimotor memory type-->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<remap from="/image" to="/image_not_used"/> <!-- Just to make sure that rtabmap does not subscribe
to camera image, here we use sensorimotor input -->
</node>
<node name="rtabmap_gui" pkg="rtabmap" type="rtabmap_gui" output="screen"/>
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<remap from="/camera/image" to="/image"/>
<param name="device_id" value="0" type="int"/>
<param name="image_hz" value="5.0" type="double"/>
<param name="image_width" value="80" type="int"/>
<param name="image_height" value="60" type="int"/>
</node>
<node name="my_audio_recorder" pkg="rtabmap" type="audio_recorder" output="screen">
<param name="device_id" value="0" type="int"/>
<param name="file_name" value="" type="string"/> <!-- use the micro -->
<param name="frame_length" value="4800" type="int"/> <!-- Must match with image_hz of the camera
(5 Hz at 24000 fs = 4800 samples / frame) -->
<param name="fs" value="24000" type="int"/>
<param name="sample_size" value="2" type="int"/> <!-- 16bits/sample -->
<param name="channels" value="1" type="int"/> <!-- mono -->
</node>
<!-- This node will synchronize images and audio frames, and
transform them to a Sensorimotor topic used by RTAB-Map. -->
<node name="my_input_node" pkg="rtabmap" type="input_image_audio_node" />
</launch>
rtabmap/launch/sensors_capture.launch
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<launch>
<!-- teleop -->
<node pkg="pr2_teleop" type="teleop_pr2_keyboard" name="spawn_teleop_keyboard" output="screen">
<remap from="cmd_vel" to="user/cmd_vel" />
<param name="walk_vel" value="0.5" />
<param name="run_vel" value="1.0" />
<param name="yaw_rate" value="1.0" />
<param name="yaw_run_rate" value="1.5" />
</node>
<!-- camera -->
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<remap from="camera/image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="image_hz" value="10.0" type="double"/>
<param name="image_width" value="80" type="int"/>
<param name="image_height" value="60" type="int"/>
</node>
<!-- mic -->
<node name="my_audio_recorder" pkg="rtabmap" type="audio_recorder" output="screen">
<param name="device_id" value="0" type="int"/>
<param name="file_name" value="" type="string"/> <!-- use the micro -->
<param name="frame_length" value="2400" type="int"/> <!-- Must match with image_hz of the camera
(10 Hz at 24000 fs = 2400 samples / frame) -->
<param name="fs" value="24000" type="int"/>
<param name="sample_size" value="2" type="int"/> <!-- 16bits/sample -->
<param name="channels" value="1" type="int"/> <!-- mono -->
</node>
<!-- Lasers -->
<!-- ls -l /dev/ttyACM* -->
<!-- sudo chmod a+rw /dev/ttyACM* -->
<node pkg="hokuyo_node" type="hokuyo_node" name="laser_top_publisher" ns="laser_top">
<param name="frame_id" type="string" value="laser_top"/>
<param name="port" type="string" value="/dev/ttyACM0"/>
</node>
</launch>
rtabmap/launch/teleop.launch
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<launch>
<!-- TELEOP JOYSTICK -->
<node name="teleop_pr2" pkg="pr2_teleop" type="teleop_pr2" args="--deadman_no_publish">
<remap from="cmd_vel" to="user/cmd_vel" />
<remap from="cmd_vel" to="tr/cmd_vel" />
</node>
<node name="joystick" pkg="joy" type="joy_node">
<param name="autorepeat_rate" value="20" type="double" />
rtabmap/launch/teleop_keyboard.launch
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<launch>
<node pkg="pr2_teleop" type="teleop_pr2_keyboard" name="spawn_teleop_keyboard" output="screen">
<remap from="cmd_vel" to="user/cmd_vel" />
<remap from="cmd_vel" to="tr/cmd_vel" />
<param name="walk_vel" value="0.5" />
<param name="run_vel" value="1.0" />
rtabmap/launch/test_learning.launch
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<launch>
<!-- launch teleop with teleop_keyboard.launch -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<remap from="/image" to="/image_not_used"/> <!-- Just to make sure that rtabmap does not subscribe
to camera image, here we use sensorimotor input -->
<remap from="sensorimotor" to="sensorimotor" />
<remap from="rtabmap/info" to="rtabmap/info" />
<remap from="rtabmap/info_x" to="rtabmap/info_x" />
</node>
<node name="rtabmap_out" pkg="rtabmap" type="rtabmap_out">
<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
<remap from="rtabmap/info" to="rtabmap/info" />
<remap from="rtabmap/info_x" to="rtabmap/info_x" />
</node>
<!-- Arbitration -->
<!-- cmd_vel_a has priority on cmd_vel_b -->
<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity">
<param name="commands_hz" value="10.0" type="double"/>
<param name="cmd_vel_a_buffered" value="false" type="bool"/>
<param name="cmd_vel_b_buffered" value="true" type="bool"/>
<param name="stats_logged" value="false" type="bool"/>
<remap from="cmd_vel_a" to="user/cmd_vel" />
<remap from="cmd_vel_b" to="rtabmap/cmd_vel" />
<remap from="cmd_vel" to="cmd_vel" />
</node>
<!-- INPUT NODE -->
<node name="my_input_node" pkg="rtabmap" type="input_image_audio_twist_node">
<remap from="cmd_vel" to="cmd_vel"/>
</node>
<!-- SENSORS -->
<!-- camera -->
<node name="camera" pkg="rtabmap" type="camera" output="screen">
<remap from="camera/image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="image_hz" value="10.0" type="double"/>
<param name="image_width" value="80" type="int"/>
<param name="image_height" value="60" type="int"/>
</node>
<!-- mic -->
<node name="my_audio_recorder" pkg="rtabmap" type="audio_recorder" output="screen">
<param name="device_id" value="0" type="int"/>
<param name="file_name" value="" type="string"/> <!-- use the micro -->
<param name="frame_length" value="2400" type="int"/> <!-- Must match with image_hz of the camera
(10 Hz at 24000 fs = 2400 samples / frame) -->
<param name="fs" value="24000" type="int"/>
<param name="sample_size" value="2" type="int"/> <!-- 16bits/sample -->
<param name="channels" value="1" type="int"/> <!-- mono -->
</node>
</launch>
rtabmap/launch/test_learning_image_twist.launch
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<launch>
<!-- when rosbag ... "rosbag play -.-clock my.bag"-->
<param name="use_sim_time" type="bool" value="True"/>
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<remap from="/image" to="/image_not_used"/> <!-- Just to make sure that rtabmap does not subscribe
to camera image, here we use sensorimotor input -->
<remap from="sensorimotor" to="sensorimotor" />
<remap from="rtabmap/info" to="rtabmap/info" />
<remap from="rtabmap/info_x" to="rtabmap/info_x" />
</node>
<node name="rtabmap_out" pkg="rtabmap" type="rtabmap_out">
<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
<remap from="rtabmap/info" to="rtabmap/info" />
<remap from="rtabmap/info_x" to="rtabmap/info_x" />
</node>
<!-- Arbitration -->
<!-- cmd_vel_a has priority on cmd_vel_b -->
<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity">
<param name="commands_hz" value="10.0" type="double"/>
<param name="cmd_vel_a_buffered" value="false" type="bool"/>
<param name="cmd_vel_b_buffered" value="true" type="bool"/>
<param name="stats_logged" value="false" type="bool"/>
<remap from="cmd_vel_a" to="user/cmd_vel" />
<remap from="cmd_vel_b" to="rtabmap/cmd_vel" />
<remap from="cmd_vel" to="cmd_vel" />
</node>
<!-- INPUT NODE -->
<node name="my_input_node" pkg="rtabmap" type="input_image_twist_node">
<remap from="cmd_vel" to="cmd_vel"/>
<remap from="image" to="image_local_polar_reconstructed"/>
</node>
</launch>
rtabmap/launch/test_visual_attention.launch
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<launch>
<!-- Nodes -->
<node name="camera" pkg="rtabmap_image" type="camera" output="screen">
<remap from="camera/image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="image_hz" value="0" type="double"/>
<param name="image_width" value="640" type="int"/>
<param name="image_height" value="480" type="int"/>
</node>
<node name="visual_attention" pkg="rtabmap" type="visual_attention" output="screen"/>
<!--
<node name="image" pkg="rtabmap_image" type="image_view_qt" output="screen">
<remap from="image" to="image"/>
</node>
-->
<node name="image_motion" pkg="rtabmap_image" type="image_view_qt" output="screen">
<remap from="image" to="image_motion"/>
</node>
<node name="image_motion_local" pkg="rtabmap_image" type="image_view_qt" output="screen">
<remap from="image" to="image_motion_local"/>
</node>
<node name="image_local" pkg="rtabmap_image" type="image_view_qt" output="screen">
<remap from="image" to="image_local"/>
</node>
<node name="image_motion_local_polar" pkg="rtabmap_image" type="image_view_qt" output="screen">
<remap from="image" to="image_motion_local_polar"/>
</node>
<node name="image_motion_local_polar_reconstructed" pkg="rtabmap_image" type="image_view_qt" output="screen">
<remap from="image" to="image_motion_local_polar_reconstructed"/>
</node>
</launch>