mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
51 lines
2.5 KiB
XML
51 lines
2.5 KiB
XML
|
|
<launch>
|
|
|
|
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
|
|
<include file="$(find az3_bringup)/az3_standalone.launch"/>
|
|
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
|
|
|
|
<!-- OpenNI -->
|
|
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
|
|
|
|
<!-- Throttling messages -->
|
|
<group ns="camera">
|
|
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
|
|
<param name="rate" type="double" value="5.0"/>
|
|
|
|
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
|
|
<remap from="depth/image_in" to="depth_registered/image_raw"/>
|
|
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
|
|
|
|
<remap from="rgb/image_out" to="data_throttled_image"/>
|
|
<remap from="depth/image_out" to="data_throttled_image_depth"/>
|
|
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
|
|
</node>
|
|
</group>
|
|
|
|
<!-- SLAM (robot side) -->
|
|
<!-- args: "delete_db_on_start" and "udebug" -->
|
|
<group ns="rtabmap">
|
|
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
|
|
<param name="frame_id" type="string" value="base_footprint"/>
|
|
<param name="subscribe_depth" type="bool" value="true"/>
|
|
|
|
<remap from="odom" to="/base_controller/odom"/>
|
|
<remap from="rgb/image" to="/camera/data_throttled_image"/>
|
|
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
|
|
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
|
|
|
|
<param name="queue_size" type="int" value="10"/>
|
|
|
|
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
|
|
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
|
|
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
|
|
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
|
|
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
|
|
<param name="Rtabmap/TimeThr" type="string" value="700"/>
|
|
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
|
|
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
|
|
</node>
|
|
</group>
|
|
</launch>
|