mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
99 lines
4.7 KiB
XML
99 lines
4.7 KiB
XML
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<launch>
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<!-- We test here ICP odometry using a guess from visual odometry -->
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<arg name="rgbd" default="false"/>
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<arg name="pm" default="false"/>
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<arg name="nodelet" default="false"/>
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<include file="$(find freenect_launch)/launch/freenect.launch" >
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<arg name="depth_registration" value="true"/>
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<arg name="data_skip" value="3"/>
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</include>
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="points_xyz" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
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<remap from="depth/image" to="depth_registered/image_raw"/>
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<remap from="depth/camera_info" to="depth_registered/camera_info"/>
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<remap from="cloud" to="/voxel_cloud" />
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<param name="voxel_size" type="double" value="0.05"/>
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<param name="decimation" type="int" value="8"/>
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<param name="Odom/AlignWithGround" type="string" value="true"/>
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</node>
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<group if="$(arg nodelet)">
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<node if="$(arg rgbd)" pkg="nodelet" type="nodelet" name="rgbdicp_odometry" args="load rtabmap_ros/rgbdicp_odometry camera_nodelet_manager">
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<remap from="scan_cloud" to="/voxel_cloud"/>
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<remap from="depth/image" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="rgb/camera_info"/>
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<remap from="rgb/image" to="rgb/image_rect_mono"/>
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<param name="frame_id" type="string" value="camera_link"/>
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<param name="scan_normal_k" type="int" value="10"/>
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<param name="subscribe_scan_cloud" type="bool" value="true"/>
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<param name="Icp/PointToPlane" type="string" value="true"/>
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<param name="Icp/VoxelSize" type="string" value="0"/>
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<param name="Icp/PM" type="string" value="$(arg pm)"/>
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<param name="Icp/PMOutlierRatio" type="string" value="0.65"/>
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</node>
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<node unless="$(arg rgbd)" pkg="nodelet" type="nodelet" name="icp_odometry" args="load rtabmap_ros/icp_odometry camera_nodelet_manager" output="screen">
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<remap from="scan_cloud" to="/voxel_cloud"/>
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<param name="frame_id" type="string" value="camera_link"/>
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<param name="scan_normal_k" type="int" value="10"/>
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<param name="Icp/PointToPlane" type="string" value="true"/>
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<param name="Icp/VoxelSize" type="string" value="0"/>
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<param name="Icp/PM" type="string" value="$(arg pm)"/>
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<param name="Icp/PMOutlierRatio" type="string" value="0.65"/>
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<param name="Odom/GuessMotion" type="string" value="true"/>
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<param name="Odom/ResetCountdown" type="string" value="1"/>
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</node>
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</group>
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<group unless="$(arg nodelet)">
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<node if="$(arg rgbd)" pkg="rtabmap_ros" type="rgbdicp_odometry" name="rgbdicp_odometry" output="screen">
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<remap from="scan_cloud" to="/voxel_cloud"/>
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<remap from="depth/image" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="rgb/camera_info"/>
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<remap from="rgb/image" to="rgb/image_rect_mono"/>
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<param name="frame_id" type="string" value="camera_link"/>
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<param name="scan_normal_k" type="int" value="10"/>
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<param name="subscribe_scan_cloud" type="bool" value="true"/>
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<param name="Icp/PointToPlane" type="string" value="true"/>
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<param name="Icp/VoxelSize" type="string" value="0"/>
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<param name="Icp/PM" type="string" value="$(arg pm)"/>
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<param name="Icp/PMOutlierRatio" type="string" value="0.65"/>
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</node>
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<node unless="$(arg rgbd)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
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<remap from="scan_cloud" to="/voxel_cloud"/>
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<param name="frame_id" type="string" value="camera_link"/>
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<param name="scan_normal_k" type="int" value="10"/>
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<param name="Icp/PointToPlane" type="string" value="true"/>
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<param name="Icp/VoxelSize" type="string" value="0"/>
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<param name="Icp/PM" type="string" value="$(arg pm)"/>
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<param name="Icp/PMOutlierRatio" type="string" value="0.65"/>
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<param name="Odom/GuessMotion" type="string" value="true"/>
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<param name="Odom/ResetCountdown" type="string" value="1"/>
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</node>
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</group>
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</group>
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<!-- We just use odometry without rtabmap node, so set a static /map->/odom
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transform so that rviz config below works out-of-the-box -->
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<node pkg="tf" type="static_transform_publisher" name="map_odom"
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args="0 0 0 0 0 0 map odom 100" />
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<!-- Visualization RVIZ -->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
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</launch>
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