mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-09-13 14:50:19 +08:00
matlabbe
1ef71dd5af
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1919 f169173b-cf89-36c8-b27e-44dbe73f0c83
168 lines
7.9 KiB
XML
168 lines
7.9 KiB
XML
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<launch>
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<!-- "Disable" wheel odometry from azimut3 -->
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<group ns="base_controller">
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<param name="odom_frame_id" type="string" value="az3_odom"/>
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<param name="base_frame_id" type="string" value="az3_base_link"/>
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</group>
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<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
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<!-- AZIMUT 3 bringup: launch motors and TF -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<node name="joy" pkg="joy" type="joy_node"/>
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<group ns="teleop">
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<remap from="joy" to="/joy"/>
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<node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
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<param name="cmd_eta/abtr_priority" value="50"/>
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</group>
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<!-- ROS navigation stack move_base -->
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<group ns="planner">
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<remap from="openni_points" to="/planner_cloud"/>
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<remap from="base_scan" to="/base_scan"/>
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<remap from="map" to="/map"/>
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<remap from="move_base_simple/goal" to="/planner_goal"/>
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find rtabmap)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find rtabmap)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find rtabmap)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find rtabmap)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find rtabmap)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
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</node>
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<param name="cmd_vel/abtr_priority" value="10"/>
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</group>
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<node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
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<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
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</node>
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<!-- Arbitration between teleop and planner -->
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<node name="register_cmd_eta" pkg="abtr_priority" type="register"
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args="/cmd_eta /teleop/cmd_eta"/>
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<node name="register_cmd_vel" pkg="abtr_priority" type="register"
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args="/cmd_vel /planner/cmd_vel"/>
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<!-- Stereo camera -->
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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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<!-- TF transforms for the stereo camera -->
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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="stereo_camera_base_link"
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args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />
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<node pkg="tf" type="static_transform_publisher" name="base_to_stereo_camera_base_link"
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args="0.01 0.06 0.90 0 0.2 0 base_link stereo_camera_base 100" />
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<!-- Run the ROS package stereo_image_proc for image rectification-->
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<group ns="/stereo_camera" >
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<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
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<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
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Throttle camera images to 5 Hz (), odometry on azimut cannot run over 5Hz -->
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<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap/stereo_throttle stereo_nodelet">
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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="5"/>
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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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<!-- Create point cloud for the planner -->
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<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap/point_cloud_xyz stereo_nodelet">
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<remap from="disparity/image" to="disparity"/>
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<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
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<remap from="cloud" to="/planner_cloud"/>
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<param name="voxel_size" type="double" value="0.05"/>
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<param name="decimation" type="int" value="4"/>
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</node>
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</group>
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<!-- Visual Odometry -->
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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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<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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<param name="base_link_frame_id" value="base_footprint"/>
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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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</node>
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_depth" 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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<remap from="mapData" to="mapData_notOptimized"/>
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<param name="queue_size" type="int" value="30"/>
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<!-- RTAB-Map's parameters -->
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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="RGBD/ToroIterations" type="string" value="0"/> <!-- Disable graph optimization for map_optimizer node below -->
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<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
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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="Kp/NNStrategy" type="string" value="1"/>
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<param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
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<param name="SURF/HessianThreshold" type="string" value="1000"/>
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<param name="LccBow/MaxDepth" type="string" value="3"/>
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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="LccReextract/Activated" type="string" value="true"/>
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<param name="LccReextract/FeatureType" type="string" value="4"/>
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<param name="LccReextract/MaxWords" type="string" value="400"/>
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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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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer">
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<remap from="mapData" to="mapData_notOptimized"/>
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<remap from="mapData_notOptimized_optimized" to="mapData"/>
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</node>
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<node pkg="rtabmap" type="map_assembler" name="map_assembler">
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<param name="occupancy_grid" type="bool" value="true"/>
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<remap from="grid_projection_map" to="/map"/>
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</node>
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</group>
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</launch>
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