mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
71 lines
3.2 KiB
XML
71 lines
3.2 KiB
XML
<launch>
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<arg name="rtabmapviz" default="true"/>
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<include file="$(find azure_kinect_ros_driver)/launch/driver.launch">
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<arg name="point_cloud" value="false"/>
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<arg name="rgb_point_cloud" value="false"/>
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<arg name="fps" value="15"/>
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</include>
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<group ns="rtabmap">
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<node pkg="nodelet" type="nodelet" name="points_xyz" args="standalone rtabmap_ros/point_cloud_xyz" output="screen">
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<remap from="depth/image" to="/depth_to_rgb/image_raw"/>
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<remap from="depth/camera_info" to="/depth_to_rgb/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="decimation" type="double" value="4"/>
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<param name="voxel_size" type="double" value="0.05"/>
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<param name="max_depth" type="double" value="5"/>
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<param name="normal_k" type="int" value="10"/>
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<param name="approx_sync" type="bool" value="false"/>
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</node>
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<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
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<remap from="scan_cloud" to="voxel_cloud"/>
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<param name="frame_id" type="string" value="camera_base"/>
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<!-- ICP parameters -->
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<param name="Icp/PointToPlane" type="string" value="true"/>
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<param name="Icp/PM" type="string" value="true"/>
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<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
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<!-- Odom parameters -->
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<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.05"/>
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<param name="OdomF2M/ScanMaxSize" type="string" value="5000"/>
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</node>
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<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
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<param name="frame_id" type="string" value="camera_base"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgb" type="bool" value="false"/>
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<param name="subscribe_scan_cloud" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<remap from="scan_cloud" to="voxel_cloud"/>
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<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
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<param name="RGBD/ProximityOdomGuess" type="string" value="true"/>
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<!-- ICP parameters -->
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<param name="Icp/PointToPlane" type="string" value="true"/>
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<param name="Icp/PM" type="string" value="true"/>
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<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
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<param name="Icp/MaxTranslation" type="string" value="0.5"/>
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</node>
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<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
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<param name="frame_id" type="string" value="camera_base"/>
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<param name="subscribe_rgb" type="bool" value="false"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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<param name="subscribe_scan_cloud" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<remap from="scan_cloud" to="voxel_cloud"/>
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</node>
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</group>
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</launch>
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