mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
fcf92d90e5
CoreWrapper: Fixed corrupted image when reextracting features git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1847 f169173b-cf89-36c8-b27e-44dbe73f0c83
71 lines
3.1 KiB
XML
71 lines
3.1 KiB
XML
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<launch>
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<!-- RGB-D MAPPING VERSION -->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
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-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
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-Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
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Set to 1 for float descriptor like SIFT/SURF
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Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
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-Local map size: number of unique features to keep track
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-->
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<arg name="type" default="6" />
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<arg name="nn" default="3" />
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<arg name="local_map" default="2000" />
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<!-- TF FRAMES -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
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<group ns="rtabmap">
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<!-- Odometry -->
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<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<param name="Odom/Type" type="string" value="$(arg type)"/>
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<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
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<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
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<param name="frame_id" type="string" value="base_link"/>
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</node>
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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="true"/>
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<param name="subscribe_laserScan" type="bool" value="false"/>
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<remap from="odom" to="odom"/>
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
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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="queue_size" type="int" value="30"/>
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</node>
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<!-- Visualisation (client side) -->
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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="true"/>
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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="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<remap from="odom" to="odom"/>
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</node>
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</group>
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</launch>
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