mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
95 lines
5.2 KiB
XML
95 lines
5.2 KiB
XML
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<launch>
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<!-- Bringup the Husky with SICK (2D LiDAR), realsense camera (RGB-D camera) and velodyne (3D LiDAR):
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$ export HUSKY_URDF_EXTRAS=$(rospack find rtabmap_ros)/launch/config/husky_velodyne_extra.urdf.xacro
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$ roslaunch husky_gazebo husky_playpen.launch realsense_enabled:=true
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$ roslaunch husky_viz view_robot.launch
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Examples:
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1) 6DoF mapping with 3D LiDAR
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$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false
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2) 6DoF mapping with 3D LiDAR and RGB-D camera
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$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true
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3) 6DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
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$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true
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4) 3DoF mapping with 2D LiDAR
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$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true
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5) 3DoF mapping with 2D LiDAR and RGB-D camera
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$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true
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6) 6DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
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$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true icp_odometry:=true
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Issues:
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When setting icp_odometry:=true with navigation, sending a goal to move_base could cause errors like:
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"Extrapolation Error: Lookup would require extrapolation into the future. Requested
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time 1340.520000000 but the latest data is at time 1340.500000000, when looking up
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transform from frame [odom] to frame [map]"
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To fix this change "global_frame: odom" to "global_frame: icp_odom" in "husky_navigation/config/costmap_local.yaml"
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-->
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<arg name="navigation" default="true"/>
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<arg name="localization" default="false"/>
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<arg name="icp_odometry" default="false"/>
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<arg name="rtabmapviz" default="false"/>
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<arg name="camera" default="false"/>
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<arg name="lidar2d" default="false"/>
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<arg name="lidar3d" default="false"/>
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<arg name="lidar3d_ray_tracing" default="true"/>
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<arg name="slam2d" default="true"/>
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<arg if="$(arg lidar3d)" name="cell_size" default="0.2"/>
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<arg unless="$(arg lidar3d)" name="cell_size" default="0.05"/>
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<arg if="$(arg lidar2d)" name="lidar_args" default="--Reg/Strategy 1 --RGBD/NeighborLinkRefining true --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0"/>
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<arg if="$(arg lidar3d)" name="lidar_args" default="--Reg/Strategy 1 --RGBD/NeighborLinkRefining true --ICP/PM true --Icp/PMOutlierRatio 0.7 --Icp/VoxelSize $(arg cell_size) --Icp/MaxCorrespondenceDistance 1 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/Iterations 10 --Icp/Epsilon 0.001 --OdomF2M/ScanSubtractRadius $(arg cell_size) --OdomF2M/ScanMaxSize 15000 --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0"/>
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<!--- Run rtabmap -->
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<remap from="/rtabmap/grid_map" to="/map"/>
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<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg if="$(arg localization)" name="args" value="--Reg/Force3DoF $(arg slam2d) $(arg lidar_args)" />
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<arg unless="$(arg localization)" name="args" value="--Reg/Force3DoF $(arg slam2d) $(arg lidar_args) -d" /> <!-- create new map -->
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<arg name="localization" value="$(arg localization)" />
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<arg name="visual_odometry" value="false" />
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<arg name="approx_sync" value="$(eval camera or not icp_odometry)" />
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<arg name="imu_topic" value="/imu/data" />
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<arg unless="$(arg icp_odometry)" name="odom_topic" value="/odometry/filtered" />
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<arg name="frame_id" value="base_link" />
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<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
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<arg name="gps_topic" value="/navsat/fix"/>
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<!-- 2D LiDAR -->
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<arg name="subscribe_scan" value="$(arg lidar2d)" />
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<arg name="scan_topic" value="/scan" />
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<!-- 3D LiDAR -->
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<arg name="subscribe_scan_cloud" value="$(arg lidar3d)" />
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<arg name="scan_cloud_topic" value="/velodyne_points" />
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<!-- If camera is used -->
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<arg name="depth" value="$(arg camera)" />
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<arg name="rgbd_sync" value="$(arg camera)" />
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<arg name="rgb_topic" value="/realsense/color/image_raw" />
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<arg name="camera_info_topic" value="/realsense/color/camera_info" />
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<arg name="depth_topic" value="/realsense/depth/image_rect_raw" />
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<arg name="approx_rgbd_sync" value="false" />
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<!-- If icp_odometry is used -->
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<arg if="$(arg icp_odometry)" name="icp_odometry" value="true" />
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<arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" />
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<arg if="$(arg icp_odometry)" name="vo_frame_id" value="icp_odom" />
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<arg unless="$(arg slam2d)" name="wait_imu_to_init" value="true" />
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<arg if="$(arg lidar3d)" name="odom_args" value="--Icp/CorrespondenceRatio 0.01"/>
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</include>
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<!--- Run Move Base -->
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<include if="$(arg navigation)" file="$(find husky_navigation)/launch/move_base.launch" />
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</launch>
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