mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
186 lines
11 KiB
XML
186 lines
11 KiB
XML
<?xml version="1.0"?>
|
|
<!-- -->
|
|
<launch>
|
|
|
|
<!--
|
|
Hand-held 3D lidar mapping example using only a Velodyne PUCK and external odometry (using t265 as example).
|
|
Prerequisities: rtabmap should be built with libpointmatcher
|
|
We use T265 only for lidar deskewing and icp_odometry guess in this example.
|
|
Example:
|
|
$ roslaunch rtabmap_ros test_velodyne_t265_deskewing.launch
|
|
$ rosrun rviz rviz -f map
|
|
$ Show TF and /rtabmap/cloud_map topics
|
|
-->
|
|
|
|
<arg name="rtabmapviz" default="true"/>
|
|
<arg name="scan_20_hz" default="false"/> <!-- If we launch the velodyne with "rpm:=1200" argument -->
|
|
<arg name="deskewing" default="true"/>
|
|
<arg name="slerp" default="false"/> <!-- If true, a slerp between the first and last time will be used to deskew each point, which is faster than using tf for every point but less accurate -->
|
|
<arg name="scan_topic" default="/velodyne_points"/>
|
|
<arg name="use_sim_time" default="false"/>
|
|
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
|
|
|
|
<arg name="odom_frame_id" default="t265_odom_frame"/> <!-- input odometry: here we use T265 odometry, but it could be wheel odometry -->
|
|
<arg name="frame_id" default="velodyne"/> <!-- base frame of the robot: for this example, we use velodyne as base frame -->
|
|
<arg name="queue_size" default="10"/>
|
|
<arg name="queue_size_odom" default="1"/>
|
|
<arg name="loop_ratio" default="0.2"/>
|
|
|
|
<arg name="resolution" default="0.05"/> <!-- set 0.05-0.3 for indoor, set 0.3-0.5 for outdoor -->
|
|
<arg name="iterations" default="10"/>
|
|
|
|
<!-- Grid parameters -->
|
|
<arg name="ground_is_obstacle" default="true"/>
|
|
<arg name="grid_max_range" default="20"/>
|
|
|
|
<!-- For F2M Odometry -->
|
|
<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (ground robot, car) -->
|
|
<arg name="local_map_size" default="15000"/>
|
|
<arg name="key_frame_thr" default="0.6"/>
|
|
|
|
<!-- For FLOAM Odometry -->
|
|
<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
|
|
<arg name="floam_sensor" default="0"/> <!-- 0=16 rings (VLP16), 1=32 rings, 2=64 rings -->
|
|
|
|
<!-- Static transform between velodyne and T265: TODO: Adjust with real position/orientation!!! -->
|
|
<node unless="$(arg use_sim_time)" pkg="tf" type="static_transform_publisher" name="T265_to_velodyne_tf" args="-0.01 0 0.055 0 0 0 t265_link velodyne 100"/>
|
|
|
|
<!-- Velodyne sensor VLP16 -->
|
|
<include unless="$(arg use_sim_time)" file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
|
|
<arg if="$(arg scan_20_hz)" name="rpm" value="1200"/>
|
|
<arg unless="$(arg scan_20_hz)" name="rpm" value="600"/>
|
|
<arg name="organize_cloud" value="true"/> <!-- should be organized for deskewing -->
|
|
</include>
|
|
|
|
<!-- T265 -->
|
|
<group unless="$(arg use_sim_time)" ns="t265">
|
|
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
|
|
<arg name="device_type" value="t265"/>
|
|
<arg name="serial_no" value=""/>
|
|
<arg name="tf_prefix" value="t265"/>
|
|
<arg name="initial_reset" value="false"/>
|
|
<arg name="enable_fisheye1" value="false"/>
|
|
<arg name="enable_fisheye2" value="false"/>
|
|
<arg name="topic_odom_in" value=""/>
|
|
<arg name="calib_odom_file" value=""/>
|
|
<arg name="enable_pose" value="true"/>
|
|
</include>
|
|
</group>
|
|
|
|
<!-- Lidar Deskewing -->
|
|
<node if="$(arg deskewing)" pkg="nodelet" type="nodelet" name="lidar_deskewing" args="standalone rtabmap_ros/lidar_deskewing" output="screen">
|
|
<param name="wait_for_transform" value="0.01"/>
|
|
<param name="fixed_frame_id" value="$(arg odom_frame_id)"/>
|
|
<param name="slerp" value="$(arg slerp)"/>
|
|
<remap from="input_cloud" to="$(arg scan_topic)"/>
|
|
</node>
|
|
|
|
<arg if="$(arg deskewing)" name="scan_topic_deskewed" default="$(arg scan_topic)/deskewed"/>
|
|
<arg unless="$(arg deskewing)" name="scan_topic_deskewed" default="$(arg scan_topic)"/>
|
|
|
|
<group ns="rtabmap">
|
|
<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
|
|
<remap from="scan_cloud" to="$(arg scan_topic_deskewed)"/>
|
|
<param name="guess_frame_id" type="string" value="$(arg odom_frame_id)"/>
|
|
<param name="frame_id" type="string" value="$(arg frame_id)"/>
|
|
<param name="odom_frame_id" type="string" value="odom"/>
|
|
<param name="queue_size" type="int" value="$(arg queue_size_odom)"/>
|
|
<param name="wait_for_transform_duration" type="double" value="0.2"/>
|
|
<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"/>
|
|
|
|
<!-- ICP parameters -->
|
|
<param name="Icp/PointToPlane" type="string" value="true"/>
|
|
<param name="Icp/Iterations" type="string" value="$(arg iterations)"/>
|
|
<param if="$(arg floam)" name="Icp/VoxelSize" type="string" value="0"/>
|
|
<param unless="$(arg floam)" name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
|
|
<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 if="$(arg floam)" name="Icp/PointToPlaneK" type="string" value="0"/>
|
|
<param unless="$(arg floam)" 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="$(eval resolution*10)"/>
|
|
<param name="Icp/PM" type="string" value="true"/>
|
|
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
|
|
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
|
|
<param if="$(arg ground_normals_up)" name="Icp/PointToPlaneGroundNormalsUp" type="string" value="0.8"/>
|
|
|
|
<!-- Odom parameters -->
|
|
<param name="Odom/ScanKeyFrameThr" type="string" value="$(arg key_frame_thr)"/>
|
|
<param if="$(arg floam)" name="Odom/Strategy" type="string" value="11"/>
|
|
<param unless="$(arg floam)" name="Odom/Strategy" type="string" value="0"/>
|
|
<param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg resolution)"/>
|
|
<param name="OdomF2M/ScanMaxSize" type="string" value="$(arg local_map_size)"/>
|
|
<param name="OdomLOAM/Sensor" type="string" value="$(arg floam_sensor)"/>
|
|
<param name="OdomLOAM/Resolution" type="string" value="$(arg resolution)"/>
|
|
<param if="$(eval not deskewing and scan_20_hz)" name="OdomLOAM/ScanPeriod" type="string" value="0.05"/>
|
|
<param if="$(eval not deskewing and not scan_20_hz)" name="OdomLOAM/ScanPeriod" type="string" value="0.1"/>
|
|
<param if="$(arg deskewing)" name="OdomLOAM/ScanPeriod" type="string" value="0"/>
|
|
</node>
|
|
|
|
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
|
|
<param name="frame_id" type="string" value="$(arg frame_id)"/>
|
|
<param name="subscribe_depth" type="bool" value="false"/>
|
|
<param name="subscribe_rgb" type="bool" value="false"/>
|
|
<param name="subscribe_scan_cloud" type="bool" value="true"/>
|
|
<param name="approx_sync" type="bool" value="false"/>
|
|
<param name="wait_for_transform_duration" type="double" value="0.2"/>
|
|
|
|
<remap from="scan_cloud" to="assembled_cloud"/>
|
|
|
|
<!-- RTAB-Map's parameters -->
|
|
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
|
|
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
|
|
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
|
|
<param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/>
|
|
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
|
|
<param name="RGBD/AngularUpdate" type="string" value="0.05"/>
|
|
<param name="RGBD/LinearUpdate" type="string" value="0.05"/>
|
|
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
|
|
<param name="Mem/STMSize" type="string" value="30"/>
|
|
<param name="Mem/LaserScanNormalK" type="string" value="20"/>
|
|
|
|
<param name="Reg/Strategy" type="string" value="1"/>
|
|
<param name="Grid/CellSize" type="string" value="$(arg resolution)"/>
|
|
<param name="Grid/RangeMax" type="string" value="$(arg grid_max_range)"/>
|
|
<param name="Grid/ClusterRadius" type="string" value="1"/>
|
|
<param name="Grid/GroundIsObstacle" type="string" value="$(arg ground_is_obstacle)"/>
|
|
<param name="Optimizer/GravitySigma" type="string" value="0.3"/>
|
|
|
|
<!-- ICP parameters -->
|
|
<param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
|
|
<param name="Icp/PointToPlaneK" type="string" value="20"/>
|
|
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
|
|
<param name="Icp/PointToPlane" type="string" value="true"/>
|
|
<param name="Icp/Iterations" type="string" value="$(arg iterations)"/>
|
|
<param name="Icp/Epsilon" type="string" value="0.001"/>
|
|
<param name="Icp/MaxTranslation" type="string" value="3"/>
|
|
<param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*10)"/>
|
|
<param name="Icp/PM" type="string" value="true"/>
|
|
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
|
|
<param name="Icp/CorrespondenceRatio" type="string" value="$(arg loop_ratio)"/>
|
|
</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="odom_filtered_input_scan"/>
|
|
<remap from="odom_info" to="odom_info"/>
|
|
</node>
|
|
|
|
<node pkg="nodelet" type="nodelet" name="point_cloud_assembler" args="standalone rtabmap_ros/point_cloud_assembler" output="screen">
|
|
<remap from="cloud" to="$(arg scan_topic_deskewed)"/>
|
|
<remap from="odom" to="odom"/>
|
|
<param if="$(arg scan_20_hz)" name="max_clouds" type="int" value="20" />
|
|
<param unless="$(arg scan_20_hz)" name="max_clouds" type="int" value="10" />
|
|
<param name="fixed_frame_id" type="string" value="" />
|
|
<param name="queue_size" type="int" value="$(arg queue_size)" />
|
|
</node>
|
|
</group>
|
|
|
|
</launch>
|