mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Mathieu Labbe
dfe5cff0c0
Moved all nodelets and rviz plugins in "rtabmap_ros" namespace instead of "rtabmap" Refactored rtabmap_ros messages (added convenient conversion methods in rtabmap_ros/MsgConversion.h) Added noise filtering parameters for map_assembler node Added variance parameter for map_optimizer node Odometry nodes publish covariance matrices in odometry messages. Publish rtambap_ros::OdomInfo topic too.
83 lines
3.9 KiB
XML
83 lines
3.9 KiB
XML
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<launch>
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<!-- RGB-D MAPPING VERSION -->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<!-- ODOMETRY MAIN ARGUMENTS:
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-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
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-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
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-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
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Set to 1 for float descriptor like SIFT/SURF
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Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
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-"max_depth" : Maximum features depth (m)
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-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
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-"inlier_distance" : RANSAC maximum inliers distance (m)
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-"local_map" : Local map size: number of unique features to keep track
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-->
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<arg name="strategy" default="0" />
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<arg name="feature" default="6" />
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<arg name="nn" default="3" />
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<arg name="max_depth" default="4.0" />
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<arg name="min_inliers" default="20" />
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<arg name="inlier_distance" default="0.02" />
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<arg name="local_map" default="1000" />
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<!-- TF FRAMES -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
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<group ns="rtabmap">
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<!-- Odometry -->
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<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
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<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
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<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
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<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
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<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
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<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
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<param name="frame_id" type="string" value="base_link"/>
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</node>
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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="false"/>
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<remap from="odom" to="odom"/>
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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="0.02"/>
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<param name="queue_size" type="int" value="30"/>
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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="false"/>
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<param name="queue_size" type="int" value="30"/>
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<remap from="odom" to="odom"/>
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</node>
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</group>
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</launch>
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