mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
matlabbe
b1d740703d
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1355 f169173b-cf89-36c8-b27e-44dbe73f0c83
78 lines
3.4 KiB
XML
78 lines
3.4 KiB
XML
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<launch>
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<!-- RGB-D MAPPING VERSION -->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<!-- TF FRAMES -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
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<group ns="rtabmap">
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<!-- Odometry -->
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<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<param name="Odom/MinInliers" type="string" value="10"/>
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<param name="Odom/InlierDistance" type="string" value="0.01"/>
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<param name="frame_id" type="string" value="base_link"/>
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</node>
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<!-- Visual SLAM -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="false"/>
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<remap from="odom" to="odom"/>
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<param name="queue_size" type="int" value="30"/>
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</node>
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</group>
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<!-- Map assembler for rviz -->
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<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen">
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<remap from="infoEx" to="rtabmap/infoEx"/>
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<param name="cloud_decimation" type="int" value="4"/>
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<param name="cloud_voxel_size" type="double" value="0.02"/>
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<param name="scan_voxel_size" type="double" value="0.01"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
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<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
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<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
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<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
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<remap from="odom_in" to="rtabmap/odom"/>
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<remap from="rgb/image_out" to="data_odom_sync/image"/>
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<remap from="depth/image_out" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
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<remap from="odom_out" to="odom_sync"/>
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<param name="queue_size" type="int" value="30"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="data_odom_sync/image"/>
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<remap from="depth/image" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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