rtabmap_ros/launch/tests/test_ouster.launch

<launch>
  
    <!-- 
    Hand-held 3D lidar mapping example using only a Ouster OS-1 (no camera).
    Prerequisities: rtabmap should be built with libpointmatcher
    Example:
     $ roslaunch rtabmap_ros test_ouster.launch os1_hostname:=os1-XXXXXXXXXXXX.local os1_udp_dest:=192.168.1.XXX
     $ rosrun rviz rviz -f map
     $ Show TF and /rtabmap/cloud_map topics
    ISSUE: You may have to reset odometry after receiving the first cloud if the map looks tilted. The problem seems 
           coming from the first cloud sent by os1_cloud_node, which may be poorly synchronized with IMU data.
    -->

    <!-- Required: -->
    <arg name="os1_hostname"/>
    <arg name="os1_udp_dest"/>

    <arg name="frame_id" default="os1_sensor"/>
    <arg name="rtabmapviz"    default="true"/>
    <arg name="scan_20_hz"    default="false"/>
    <arg name="use_sim_time"  default="false"/>
    <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
    
    <!-- Ouster -->
    <remap from="/os1_cloud_node/imu" to="/os1_cloud_node/imu/data_raw"/>
    <include file="$(find ouster_ros)/os1.launch">
      <arg name="os1_hostname" value="$(arg os1_hostname)"/>
      <arg name="os1_udp_dest" value="$(arg os1_udp_dest)"/>
      <arg     if="$(arg scan_20_hz)" name="lidar_mode" value="1024x20"/>
      <arg unless="$(arg scan_20_hz)" name="lidar_mode" value="1024x10"/>
    </include>

    <!-- IMU orientation estimation and publish tf accordingly to os1_sensor frame -->
    <node pkg="nodelet" type="nodelet" name="imu_nodelet_manager" args="manager">
      <remap from="imu" to="/os1_cloud_node/imu"/>
    </node>
    <node pkg="nodelet" type="nodelet" name="imu_filter" args="load imu_filter_madgwick/ImuFilterNodelet imu_nodelet_manager">
      <param name="use_mag" value="false"/>
      <param name="world_frame" value="enu"/>
      <param name="publish_tf" value="false"/>
    </node> 
    <node pkg="nodelet" type="nodelet" name="imu_to_tf" args="load rtabmap_ros/imu_to_tf imu_nodelet_manager">
      <remap from="imu/data" to="/os1_cloud_node/imu/data"/>
      <param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
      <param name="base_frame_id" value="$(arg frame_id)"/>
    </node> 

    <group ns="rtabmap">
      <node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
        <remap from="scan_cloud" to="/os1_cloud_node/points"/>
        <param name="frame_id"        type="string" value="$(arg frame_id)"/>  
        <param name="odom_frame_id"   type="string" value="odom"/>
        <param     if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
        <param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>

        <remap from="imu" to="/os1_cloud_node/imu/data"/>
        <param name="guess_frame_id"   type="string" value="$(arg frame_id)_stabilized"/>
        <param name="wait_imu_to_init" type="bool" value="true"/>
     
        <!-- ICP parameters -->
        <param name="Icp/PointToPlane"        type="string" value="false"/>
        <param name="Icp/Iterations"          type="string" value="10"/>
        <param name="Icp/VoxelSize"           type="string" value="0.2"/>
        <param name="Icp/DownsamplingStep"    type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
        <param name="Icp/Epsilon"             type="string" value="0.001"/>
        <param name="Icp/PointToPlaneK"       type="string" value="20"/>
        <param name="Icp/PointToPlaneRadius"  type="string" value="0"/>
        <param name="Icp/MaxTranslation"      type="string" value="2"/>
        <param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
        <param name="Icp/PM"                  type="string" value="true"/> 
        <param name="Icp/PMOutlierRatio"      type="string" value="0.7"/>
        <param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>  

        <!-- Odom parameters -->       
        <param name="Odom/ScanKeyFrameThr"       type="string" value="0.9"/>
        <param name="Odom/Strategy"              type="string" value="0"/>
        <param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
        <param name="OdomF2M/ScanMaxSize"        type="string" value="15000"/>      
      </node>

      <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">	  
        <param name="frame_id"             type="string" value="$(arg frame_id)"/>  
        <param name="subscribe_depth"      type="bool" value="false"/>
        <param name="subscribe_rgb"        type="bool" value="false"/>
        <param name="subscribe_scan_cloud" type="bool" value="true"/>
        <param name="approx_sync"          type="bool" value="false"/>
        
        <remap from="scan_cloud" to="/os1_cloud_node/points"/>
     
        <!-- RTAB-Map's parameters -->
        <param name="Rtabmap/DetectionRate"          type="string" value="1"/>  
        <param name="RGBD/NeighborLinkRefining"      type="string" value="false"/>
        <param name="RGBD/ProximityBySpace"          type="string" value="true"/>
        <param name="RGBD/ProximityMaxGraphDepth"    type="string" value="0"/>
        <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
        <param name="RGBD/AngularUpdate"             type="string" value="0.05"/>
        <param name="RGBD/LinearUpdate"              type="string" value="0.05"/>
        <param name="Mem/NotLinkedNodesKept"         type="string" value="false"/>
        <param name="Mem/STMSize"                    type="string" value="30"/>
        <!-- param name="Mem/LaserScanVoxelSize"     type="string" value="0.1"/ -->
        <!-- param name="Mem/LaserScanNormalK"       type="string" value="10"/ -->
        <!-- param name="Mem/LaserScanRadius"        type="string" value="0"/ -->
        
        <param name="Reg/Strategy"                   type="string" value="1"/> 
        <param name="Grid/CellSize"                  type="string" value="0.1"/>
        <param name="Grid/RangeMax"                  type="string" value="20"/>
        <param name="Grid/ClusterRadius"             type="string" value="1"/>
        <param name="Grid/GroundIsObstacle"          type="string" value="true"/>

        <!-- ICP parameters -->
        <param name="Icp/VoxelSize"                  type="string" value="0.2"/>
        <param name="Icp/PointToPlaneK"              type="string" value="20"/>
        <param name="Icp/PointToPlaneRadius"         type="string" value="0"/>
        <param name="Icp/PointToPlane"               type="string" value="false"/>
        <param name="Icp/Iterations"                 type="string" value="10"/>
        <param name="Icp/Epsilon"                    type="string" value="0.001"/>
        <param name="Icp/MaxTranslation"             type="string" value="3"/>
        <param name="Icp/MaxCorrespondenceDistance"  type="string" value="1"/>
        <param name="Icp/PM"                         type="string" value="true"/> 
        <param name="Icp/PMOutlierRatio"             type="string" value="0.7"/>
        <param name="Icp/CorrespondenceRatio"        type="string" value="0.4"/>
      </node>

      <node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
        <param name="frame_id" type="string" value="$(arg frame_id)"/>
        <param name="odom_frame_id" type="string" value="odom"/>
        <param name="subscribe_odom_info" type="bool" value="true"/>
        <param name="subscribe_scan_cloud" type="bool" value="true"/>
        <param name="approx_sync" type="bool" value="false"/>
        <remap from="scan_cloud" to="/os1_cloud_node/points"/>
      </node>
  </group>

</launch>