mirror of
https://github.com/introlab/rtabmap_ros.git
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198 lines
12 KiB
XML
198 lines
12 KiB
XML
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<launch>
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<!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
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<!-- For stereo:=false
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Your RGB-D sensor should be already started with "depth_registration:=true".
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Examples:
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$ roslaunch freenect_launch freenect.launch depth_registration:=true
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$ roslaunch openni2_launch openni2.launch depth_registration:=true -->
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<!-- For stereo:=true
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Your camera should be calibrated and publishing rectified left and right
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images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
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Example:
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$ roslaunch rtabmap_ros bumblebee.launch -->
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<!-- Choose between RGB-D and stereo -->
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<arg name="stereo" default="false"/>
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<!-- Choose visualization -->
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<arg name="rtabmapviz" default="true" />
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<arg name="rviz" default="false" />
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<!-- Localization-only mode -->
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<arg name="localization" default="false"/>
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<!-- Corresponding config files -->
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<arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
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<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
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<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
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<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
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<arg name="namespace" default="rtabmap"/>
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<arg name="database_path" default="~/.ros/rtabmap.db"/>
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<arg name="queue_size" default="10"/>
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<arg name="wait_for_transform" default="0.2"/>
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<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
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<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
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<arg name="approx_sync" default="true"/> <!-- if timestamps of the input topics are not synchronized -->
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<!-- RGB-D related topics -->
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<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
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<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
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<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
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<!-- stereo related topics -->
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<arg name="stereo_namespace" default="/stereo_camera"/>
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<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
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<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
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<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
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<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
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<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
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<!-- For depth_topic, "compressedDepth" image_transport is used. -->
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<!-- For rgb_topic, see "rgb_image_transport" argument. -->
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<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
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<arg name="subscribe_scan" default="false"/>
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<arg name="scan_topic" default="/scan"/>
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<arg name="subscribe_scan_cloud" default="false"/>
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<arg name="scan_cloud_topic" default="/scan_cloud"/>
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<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
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<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
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<arg name="odom_args" default="$(arg rtabmap_args)"/>
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<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
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<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
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<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
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<arg if="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)_relay"/>
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<arg unless="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)"/>
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<arg if="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)_relay"/>
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<arg unless="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)"/>
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<arg if="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)_relay"/>
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<arg unless="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)"/>
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<!-- Nodes -->
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<group ns="$(arg namespace)">
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<!-- RGB-D Odometry -->
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<group unless="$(arg stereo)">
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<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
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<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
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<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
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<remap from="depth/image" to="$(arg depth_topic_relay)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
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<param name="config_path" type="string" value="$(arg cfg)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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</node>
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</group>
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<!-- Stereo Odometry -->
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<group if="$(arg stereo)">
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<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
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<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
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<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
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<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
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<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
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<param name="config_path" type="string" value="$(arg cfg)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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</node>
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</group>
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<!-- Visual SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
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<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
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<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
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<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="database_path" type="string" value="$(arg database_path)"/>
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<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
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<param name="config_path" type="string" value="$(arg cfg)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
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<remap from="depth/image" to="$(arg depth_topic_relay)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
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<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
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<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
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<!-- localization mode -->
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<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
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<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
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<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
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</node>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
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<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
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<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
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<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
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<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
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<remap from="depth/image" to="$(arg depth_topic_relay)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
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<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
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<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
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</node>
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</group>
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<!-- Visualization RVIZ -->
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<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
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<remap from="left/image" to="$(arg left_image_topic_relay)"/>
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<remap from="right/image" to="$(arg right_image_topic_relay)"/>
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<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
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<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
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<remap from="depth/image" to="$(arg depth_topic_relay)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="decimation" type="double" value="2"/>
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<param name="voxel_size" type="double" value="0.02"/>
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<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
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</node>
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</launch>
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