mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
matlabbe
2c82fb0585
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1432 f169173b-cf89-36c8-b27e-44dbe73f0c83
57 lines
2.7 KiB
XML
57 lines
2.7 KiB
XML
|
|
<launch>
|
|
|
|
<!-- RGB-D LOCALIZATION VERSION -->
|
|
|
|
<!-- TF FRAMES -->
|
|
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
|
|
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
|
|
|
|
<group ns="rtabmap">
|
|
|
|
<!-- Odometry -->
|
|
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
|
|
<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"/>
|
|
|
|
<param name="frame_id" type="string" value="base_link"/>
|
|
</node>
|
|
|
|
<!-- Visual SLAM (robot side) -->
|
|
<!-- args: "delete_db_on_start" and "udebug" -->
|
|
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
|
|
<param name="subscribe_depth" type="bool" value="true"/>
|
|
<param name="subscribe_laserScan" type="bool" value="false"/>
|
|
|
|
<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="odom" to="odom"/>
|
|
|
|
<param name="queue_size" type="int" value="30"/>
|
|
|
|
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
|
|
<param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
|
|
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
|
|
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
|
|
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
|
|
<param name="LccBow/MinInliers" type="string" value="10"/> <!-- Minimum inliers to accept a loop closure -->
|
|
</node>
|
|
|
|
<!-- Visualisation (client side) -->
|
|
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
|
|
<param name="subscribe_depth" type="bool" value="true"/>
|
|
<param name="subscribe_laserScan" type="bool" value="false"/>
|
|
<param name="queue_size" type="int" value="30"/>
|
|
|
|
<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="odom" to="odom"/>
|
|
</node>
|
|
|
|
</group>
|
|
|
|
</launch>
|