mirror of
https://github.com/introlab/rtabmap_ros.git
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153 lines
9.4 KiB
XML
153 lines
9.4 KiB
XML
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<launch>
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<!--
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Hand-held 3D lidar mapping example using only a Velodyne PUCK (no camera).
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Prerequisities: rtabmap should be built with libpointmatcher
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Example:
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$ roslaunch rtabmap_ros test_velodyne.launch
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$ rosrun rviz rviz -f map
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$ Show TF and /rtabmap/cloud_map topics
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-->
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<arg name="rtabmapviz" default="true"/>
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<arg name="use_imu" default="false"/> <!-- Assuming IMU fixed to lidar with /velodyne -> /imu_link TF -->
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<arg name="imu_topic" default="/imu/data"/>
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<arg name="scan_20_hz" default="false"/> <!-- If we launch the velodyne with "rpm:=1200" argument -->
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<arg name="organize_cloud" default="false"/>
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<arg name="scan_topic" default="/velodyne_points"/>
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<arg name="use_sim_time" default="false"/>
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<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
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<arg name="frame_id" default="velodyne"/>
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<arg name="queue_size" default="1"/> <!-- Set to 100 for kitti dataset to make sure all scans are processed -->
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<arg name="loop_ratio" default="0.4"/> <!-- Set to 0.2 for kitti -->
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<arg name="resolution" default="0.1"/> <!-- set 0.1-0.3 for indoor, set 0.3-0.5 for outdoor (0.4 for kitti) -->
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<arg name="iterations" default="10"/>
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<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (car, kitti) -->
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<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
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<arg name="floam_sensor" default="0"/> <!-- 0=16 rings (VLP16), 1=32 rings, 2=64 rings (kitti dataset) -->
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<include unless="$(arg use_sim_time)" file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
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<arg if="$(arg scan_20_hz)" name="rpm" value="1200"/>
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<arg unless="$(arg scan_20_hz)" name="rpm" value="600"/>
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<arg name="organize_cloud" value="$(arg organize_cloud)"/>
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</include>
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<!-- IMU orientation estimation and publish tf accordingly to os1_sensor frame -->
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<node if="$(arg use_imu)" pkg="rtabmap_ros" type="imu_to_tf" name="imu_to_tf">
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<remap from="imu/data" to="$(arg imu_topic)"/>
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<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
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<param name="base_frame_id" value="$(arg frame_id)"/>
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</node>
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<group ns="rtabmap">
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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="$(arg scan_topic)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="odom_frame_id" type="string" value="odom"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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<param name="wait_for_transform_duration" type="double" value="0.2"/>
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<param if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
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<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
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<remap if="$(arg use_imu)" from="imu" to="$(arg imu_topic)"/>
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<param if="$(arg use_imu)" name="guess_frame_id" type="string" value="$(arg frame_id)_stabilized"/>
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<param if="$(arg use_imu)" name="wait_imu_to_init" type="bool" 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/Iterations" type="string" value="$(arg iterations)"/>
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<param if="$(arg floam)" name="Icp/VoxelSize" type="string" value="0"/>
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<param unless="$(arg floam)" name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
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<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
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<param name="Icp/Epsilon" type="string" value="0.001"/>
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<param if="$(arg floam)" name="Icp/PointToPlaneK" type="string" value="0"/>
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<param unless="$(arg floam)" name="Icp/PointToPlaneK" type="string" value="20"/>
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<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
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<param name="Icp/MaxTranslation" type="string" value="2"/>
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<param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*10)"/>
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<param name="Icp/PM" type="string" value="true"/>
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<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
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<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
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<param if="$(arg ground_normals_up)" name="Icp/PointToPlaneGroundNormalsUp" type="string" value="0.8"/>
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<!-- Odom parameters -->
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<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
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<param if="$(arg floam)" name="Odom/Strategy" type="string" value="11"/>
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<param unless="$(arg floam)" name="Odom/Strategy" type="string" value="0"/>
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<param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg resolution)"/>
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<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
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<param name="OdomLOAM/Sensor" type="string" value="$(arg floam_sensor)"/>
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<param name="OdomLOAM/Resolution" type="string" value="$(arg resolution)"/>
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</node>
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<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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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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<param name="wait_for_transform_duration" type="double" value="0.2"/>
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<remap from="scan_cloud" to="assembled_cloud"/>
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<remap from="imu" to="$(arg imu_topic)"/>
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<!-- RTAB-Map's parameters -->
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
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<param name="RGBD/ProximityBySpace" type="string" value="true"/>
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<param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/>
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<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
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<param name="RGBD/AngularUpdate" type="string" value="0.05"/>
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<param name="RGBD/LinearUpdate" type="string" value="0.05"/>
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<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
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<param name="Mem/STMSize" type="string" value="30"/>
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<param name="Mem/LaserScanNormalK" type="string" value="20"/>
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<param name="Reg/Strategy" type="string" value="1"/>
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<param name="Grid/CellSize" type="string" value="$(arg resolution)"/>
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<param name="Grid/RangeMax" type="string" value="20"/>
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<param name="Grid/ClusterRadius" type="string" value="1"/>
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<param name="Grid/GroundIsObstacle" type="string" value="true"/>
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<param name="Optimizer/GravitySigma" type="string" value="0.3"/>
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<!-- ICP parameters -->
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<param name="Icp/VoxelSize" type="string" value="0"/> <!-- already voxelized by point_cloud_assembler below -->
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<param name="Icp/PointToPlaneK" type="string" value="20"/>
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<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
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<param name="Icp/PointToPlane" type="string" value="true"/>
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<param name="Icp/Iterations" type="string" value="$(arg iterations)"/>
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<param name="Icp/Epsilon" type="string" value="0.001"/>
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<param name="Icp/MaxTranslation" type="string" value="3"/>
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<param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*10)"/>
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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/CorrespondenceRatio" type="string" value="$(arg loop_ratio)"/>
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</node>
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<node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="odom_frame_id" type="string" value="odom"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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<param name="subscribe_scan_cloud" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<remap from="scan_cloud" to="odom_filtered_input_scan"/>
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<remap from="odom_info" to="odom_info"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="point_cloud_assembler" args="standalone rtabmap_ros/point_cloud_assembler" output="screen">
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<remap from="cloud" to="$(arg scan_topic)"/>
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<remap from="odom" to="odom"/>
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<param if="$(arg scan_20_hz)" name="max_clouds" type="int" value="20" />
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<param unless="$(arg scan_20_hz)" name="max_clouds" type="int" value="10" />
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<param name="fixed_frame_id" type="string" value="" />
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<param name="voxel_size" type="double" value="$(arg resolution)" />
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<param name="queue_size" type="int" value="$(arg queue_size)" />
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</node>
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</group>
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</launch>
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