rtabmap_ros/rtabmap_legacy/launch/azimut3/az3_nav.launch

<?xml version="1.0"?>

<launch>

  <!-- Localization-only mode -->
  <arg name="localization"      default="false"/>
  <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
  <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>

  <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
  <include file="$(find az3_bringup)/az3_standalone.launch"/>

  <!-- OpenNI -->
  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>

  <!-- SLAM (robot side) -->
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
      <param name="frame_id"            type="string" value="base_footprint"/>
      <param name="subscribe_scan"      type="bool" value="true"/>
      <param name="use_action_for_goal" type="bool" value="true"/>
      <param name="cloud_decimation"    type="int" value="1"/>     <!-- we already decimate in memory below -->
      <param name="grid_eroded"         type="bool" value="true"/>
      <param name="grid_cell_size"      type="double" value="0.05"/>

      <remap from="odom"    to="/base_controller/odom"/>
      <remap from="scan"    to="/base_scan"/>
      <remap from="mapData" to="mapData"/>

      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>

      <remap from="goal_out"  to="current_goal"/>
      <remap from="move_base" to="/planner/move_base"/>
      <remap from="grid_map"  to="/map"/>

      <!-- RTAB-Map's parameters -->
      <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
      <param name="RGBD/ProximityBySpace"     type="string" value="true"/>

      <param name="Reg/Strategy" type="string" value="1"/>

      <param name="RGBD/AngularUpdate" type="string" value="0.1"/>
      <param name="RGBD/LinearUpdate"  type="string" value="0.1"/>
      <param name="RGBD/LocalRadius"   type="string" value="5"/>

      <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
      <param name="Mem/NotLinkedNodesKept"  type="string" value="false"/>
      <param name="Mem/ImagePostDecimation"     type="string" value="4"/>

      <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
      <param name="Rtabmap/TimeThr"                  type="string" value="600"/>
      <param name="Rtabmap/DetectionRate"            type="string" value="1"/>

      <param name="Bayes/PredictionLC" type="string" value="0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.00035"/>

      <param name="Optimizer/Slam2D"          type="string" value="true"/>
      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
      <param name="Optimizer/Strategy"        type="string" value="0"/>

      <param name="Kp/DetectorStrategy"   type="string" value="0"/>
      <param name="Kp/MaxFeatures"        type="string" value="200"/>
      <param name="SURF/HessianThreshold" type="string" value="500"/>

      <param name="Reg/Force3DoF"  type="string" value="true"/>
      <param name="Vis/MaxDepth"   type="string" value="5"/>
      <param name="Vis/MinInliers" type="string" value="5"/>
      <param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>

      <!-- localization mode -->
      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
    </node>
  </group>

  <!-- teleop -->
  <node name="joy" pkg="joy" type="joy_node"/>
  <group ns="teleop">
     <remap from="joy" to="/joy"/>
     <node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
     <param name="cmd_eta/abtr_priority" value="50"/>
  </group>

  <!-- ROS navigation stack move_base -->
  <group ns="planner">
     <remap from="scan" to="/base_scan"/>
     <remap from="obstacles_cloud" to="/obstacles_cloud"/>
     <remap from="ground_cloud" to="/ground_cloud"/>
     <remap from="map" to="/map"/>
     <remap from="move_base_simple/goal" to="/planner_goal"/>
     <node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
        <param name="base_global_planner" value="navfn/NavfnROS"/>
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap"/>
     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="local_costmap" />
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" ns="local_costmap" />
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
     </node>

     <param name="cmd_vel/abtr_priority" value="10"/>
  </group>

  <node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
     <remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
  </node>

  <!-- Arbitration between teleop and planner -->
  <node name="register_cmd_eta" pkg="abtr_priority" type="register"
        args="/cmd_eta /teleop/cmd_eta"/>
  <node name="register_cmd_vel" pkg="abtr_priority" type="register"
        args="/cmd_vel /planner/cmd_vel"/>

  <!-- Throttling messages -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
      <param name="rate" type="double" value="5"/>
      <param name="decimation" type="int" value="2"/>

      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>

      <remap from="rgb/image_out"       to="data_resized_image"/>
      <remap from="depth/image_out"     to="data_resized_image_depth"/>
      <remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
    </node>

    <!-- for the planner -->
    <node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
      <remap from="depth/image"            to="data_resized_image_depth"/>
      <remap from="depth/camera_info"      to="data_resized_camera_info"/>
      <remap from="cloud"                  to="cloudXYZ" />
      <param name="decimation" type="int" value="1"/>                     <!-- already decimated above -->
      <param name="max_depth"  type="double" value="3.0"/>
      <param name="voxel_size" type="double" value="0.02"/>
    </node>

    <node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
      <remap from="cloud" to="cloudXYZ"/>
      <remap from="obstacles" to="/obstacles_cloud"/>
      <remap from="ground"    to="/ground_cloud"/>

      <param name="frame_id"             type="string" value="base_footprint"/>
      <param name="map_frame_id"         type="string" value="map"/>
      <param name="wait_for_transform"   type="bool" value="true"/>
      <param name="min_cluster_size"     type="int" value="20"/>
      <param name="max_obstacles_height" type="double" value="0.4"/>
    </node>
  </group>
</launch>