mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
82 lines
3.9 KiB
XML
82 lines
3.9 KiB
XML
<launch>
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<!-- 6DOF stereo demo: download a bag example from http://projects.csail.mit.edu/stata/downloads.php.
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You will need to remove the transform /combined_odometry from the /tf messages:
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$ rosbag filter 2011-01-20-07-18-45.bag out.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/odom_combined"'
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Run the example:
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$ roslaunch rtabmap demo_stereo.launch
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$ rosbag play -.-clock out.bag (replace -.- by double-dashes)
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-->
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<param name="use_sim_time" type="bool" value="True"/>
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<!-- Run the ROS package stereo_image_proc for image rectification and disparity computation -->
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<group ns="/wide_stereo">
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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="disparity" args="load stereo_image_proc/disparity standalone_nodelet"/>
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<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap/disparity_to_depth standalone_nodelet"/>
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</group>
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<!-- Odometry: Run the viso2_ros package -->
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<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
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<remap from="stereo" to="/wide_stereo"/>
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<remap from="image" to="image_rect"/>
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<param name="base_link_frame_id" value="/base_footprint"/>
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<param name="odom_frame_id" value="/odom"/>
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<param name="ref_frame_change_method" value="1"/>
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</node>
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<group ns="rtabmap">
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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="--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="true"/>
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<remap from="rgb/image" to="/wide_stereo/left/image_rect"/>
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<remap from="rgb/camera_info" to="/wide_stereo/left/camera_info"/>
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<remap from="depth/image" to="/wide_stereo/depth"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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<remap from="scan" to="/base_scan"/>
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<param name="frame_id" type="string" value="/base_footprint"/>
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<param name="queue_size" type="int" value="30"/>
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="SURF/HessianThreshold" type="string" value="600"/>
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<param name="LccBow/MaxDepth" type="string" value="0"/>
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.05"/>
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<!-- Uncomment to force 3dof loop closure constraint using -->
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<!-- the 2d scans (set ScanMatchingSize=1 to correct odometry with laser) -->
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<!--
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<param name="LccIcp/Type" type="string" value="2"/>
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<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.3"/>
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<param name="LccIcp2/MaxFitness" type="string" value="5"/>
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<param name="RGBD/ScanMatchingSize" type="string" value="0"/>
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-->
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</node>
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<!-- Visualisation (client side) -->
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<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<param name="queue_size" type="int" value="30"/>
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<remap from="rgb/image" to="/wide_stereo/left/image_rect"/>
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<remap from="rgb/camera_info" to="/wide_stereo/left/camera_info"/>
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<remap from="depth/image" to="/wide_stereo/depth"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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</node>
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</group>
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</launch> |