mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
ae38cd2a54
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1895 f169173b-cf89-36c8-b27e-44dbe73f0c83
132 lines
6.2 KiB
XML
132 lines
6.2 KiB
XML
<launch>
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<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
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<param name="video_mode" value="format7_mode3" />
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<param name="format7_color_coding" value="raw16" />
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<param name="bayer_pattern" value="bggr" />
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<param name="bayer_method" value="" />
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<param name="stereo_method" value="Interlaced" />
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<param name="camera_info_url_left" value="" />
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<param name="camera_info_url_right" value="" />
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</node>
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<arg name="pi/2" value="1.5707963267948966" />
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<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
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<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
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args="$(arg optical_rotate) base_link stereo_camera 100" />
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<!-- Run the ROS package stereo_image_proc -->
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<group ns="/stereo_camera" >
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<!-- Throttle camera images to 10 Hz -->
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<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap/stereo_throttle">
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<remap from="left/image" to="left/image_raw"/>
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<remap from="right/image" to="right/image_raw"/>
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<remap from="left/camera_info" to="left/camera_info"/>
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<remap from="right/camera_info" to="right/camera_info"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="rate" type="double" value="10"/>
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</node>
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
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<remap from="left/image_raw" to="left/image_raw_throttle"/>
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<remap from="left/camera_info" to="left/camera_info_throttle"/>
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<remap from="right/image_raw" to="right/image_raw_throttle"/>
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<remap from="right/camera_info" to="right/camera_info_throttle"/>
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</node>
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</group>
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<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
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<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
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<remap from="stereo" to="/stereo_camera"/>
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<remap from="image" to="image_rect"/>
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<param name="base_link_frame_id" value="base_link"/>
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<param name="odom_frame_id" value="/odom"/>
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<param name="ref_frame_change_method" value="1"/>
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<remap from="left/camera_info" to="left/camera_info_throttle" />
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<remap from="right/camera_info" to="right/camera_info_throttle" />
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</node>
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<!--
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<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
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<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
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<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
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<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info_throttle" />
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<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info_throttle" />
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<remap from="odometry" to="stereo_odometer/odometry" />
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</node>
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-->
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<!--
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<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
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<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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<param name="frame_id" type="string" value="base_link"/>
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<param name="approx_sync" type="bool" value="false"/>
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<param name="Odom/Strategy" type="string" value="1"/>
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<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="Odom/MaxDepth" type="string" value="10"/>
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</node>
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-->
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<group ns="rtabmap">
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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" type="rtabmap" output="screen" args="--delete_db_on_start">
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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="false"/>
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<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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<param name="frame_id" type="string" value="base_link"/>
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<param name="queue_size" type="int" value="30"/>
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="Kp/DetectorStrategy" type="string" value="0"/>
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<param name="Kp/WordsPerImage" type="string" value="200"/>
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<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="NN/NNStrategy" type="string" value="1"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.02"/>
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<param name="LccBow/MaxDepth" type="string" value="3"/>
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<param name="LccReextract/FeatureType" type="string" value="4"/>
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<param name="LccReextract/Activated" type="string" value="true"/>
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<param name="LccReextract/MaxDepth" type="string" value="10"/>
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<param name="LccReextract/NNDR" type="string" value="0.8"/>
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<param name="LccReextract/NNType" type="string" value="3"/>
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</node>
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<!-- Visualisation (client side) -->
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<!--
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<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_laserScan" type="bool" value="false"/>
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<param name="queue_size" type="int" value="30"/>
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<remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
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<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="depth/image" to="/odom_depth"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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</node>
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-->
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</group>
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<!-- RVIZ -->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
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</launch> |