mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-08 10:47:46 +08:00
matlabbeandBorong Yuan
c956e3780f
* Fixed odometry latency
* Fixed node ID=0 issues as msgs may not have seq. (#1202)
(cherry picked from commit 097cab0667)
* Odom: removed long processing from ros callbacks (decreasing delay, also making delay independent of the message filters topic_queue_size and sync_queue_size parameters)
* Changed a log from info->debug
* Changed a log from info->debug
* Updated default topic and sync queue_size inside nodes. Exposing topic and sync queue size params in warning when cannot synchronize. Added zed and depthai examples. Odom: Fixed imu callback group, added multi-threaded executors for all odometry nodes.
* fixed merge
* Include everything needed in example launch files for simple launch. Small fixes.
---------
Co-authored-by: Borong Yuan <[email protected]>
128 lines
4.6 KiB
Python
128 lines
4.6 KiB
Python
# Example:
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# $ ros2 launch rtabmap_examples vlp16.launch.py
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time')
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deskewing = LaunchConfiguration('deskewing')
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return LaunchDescription([
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# Launch arguments
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DeclareLaunchArgument(
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'use_sim_time', default_value='false',
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description='Use simulation (Gazebo) clock if true'),
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DeclareLaunchArgument(
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'deskewing', default_value='true',
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description='Enable lidar deskewing'),
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# Nodes to launch
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('velodyne_driver'), 'launch'),
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'/velodyne_driver_node-VLP16-launch.py']),
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('velodyne_pointcloud'), 'launch'),
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'/velodyne_transform_node-VLP16-launch.py']),
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),
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Node(
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package='rtabmap_odom', executable='icp_odometry', output='screen',
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parameters=[{
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'frame_id':'velodyne',
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'odom_frame_id':'odom',
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'wait_for_transform':0.2,
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'expected_update_rate':15.0,
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'deskewing':deskewing,
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'use_sim_time':use_sim_time,
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# RTAB-Map's internal parameters are strings:
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'Icp/PointToPlane': 'true',
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'Icp/Iterations': '10',
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'Icp/VoxelSize': '0.1',
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'Icp/Epsilon': '0.001',
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'Icp/PointToPlaneK': '20',
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'Icp/PointToPlaneRadius': '0',
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'Icp/MaxTranslation': '2',
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'Icp/MaxCorrespondenceDistance': '1',
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'Icp/Strategy': '1',
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'Icp/OutlierRatio': '0.7',
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'Icp/CorrespondenceRatio': '0.01',
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'Odom/ScanKeyFrameThr': '0.4',
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'OdomF2M/ScanSubtractRadius': '0.1',
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'OdomF2M/ScanMaxSize': '15000',
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'OdomF2M/BundleAdjustment': 'false'
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}],
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remappings=[
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('scan_cloud', '/velodyne_points')
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]),
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Node(
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package='rtabmap_slam', executable='rtabmap', output='screen',
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parameters=[{
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'frame_id':'velodyne',
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'subscribe_depth':False,
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'subscribe_rgb':False,
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'subscribe_scan_cloud':True,
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'approx_sync':False,
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'wait_for_transform':0.2,
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'use_sim_time':use_sim_time,
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# RTAB-Map's internal parameters are strings:
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'RGBD/ProximityMaxGraphDepth': '0',
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'RGBD/ProximityPathMaxNeighbors': '1',
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'RGBD/AngularUpdate': '0.05',
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'RGBD/LinearUpdate': '0.05',
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'RGBD/CreateOccupancyGrid': 'false',
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'Mem/NotLinkedNodesKept': 'false',
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'Mem/STMSize': '30',
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'Mem/LaserScanNormalK': '20',
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'Reg/Strategy': '1',
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'Icp/VoxelSize': '0.1',
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'Icp/PointToPlaneK': '20',
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'Icp/PointToPlaneRadius': '0',
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'Icp/PointToPlane': 'true',
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'Icp/Iterations': '10',
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'Icp/Epsilon': '0.001',
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'Icp/MaxTranslation': '3',
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'Icp/MaxCorrespondenceDistance': '1',
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'Icp/Strategy': '1',
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'Icp/OutlierRatio': '0.7',
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'Icp/CorrespondenceRatio': '0.2'
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}],
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remappings=[
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('scan_cloud', 'odom_filtered_input_scan')
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],
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arguments=[
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'-d' # This will delete the previous database (~/.ros/rtabmap.db)
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]),
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Node(
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package='rtabmap_viz', executable='rtabmap_viz', output='screen',
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parameters=[{
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'frame_id':'velodyne',
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'odom_frame_id':'odom',
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'subscribe_odom_info':True,
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'subscribe_scan_cloud':True,
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'approx_sync':False,
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'use_sim_time':use_sim_time,
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}],
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remappings=[
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('scan_cloud', 'odom_filtered_input_scan')
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]),
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])
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