mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-09-14 15:20:19 +08:00
98 lines
6.0 KiB
XML
98 lines
6.0 KiB
XML
<?xml version="1.0"?>
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<!-- -->
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<launch>
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<!-- For ref: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_ros_navigation.html#isaac-sim-app-tutorial-ros-navigation
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1) In Isaac sim, click on menu Isaac Examples - ROS - Navigation
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2) Terminal: $ roscore
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3) To teleop: $ rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.15 _turn:=0.20
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4) Navigation: roslaunch rtabmap_demos demo_isaac_carter_navigation.launch
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5) Set max depth range to 10m in rtabmap_viz for correct visualization (Preferences->3D Rendering under map and odom columns)
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6) Press Play in Isaac sim
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Note: carter_2dnav package can be copied to your catkin_ws from:
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$ cp -r ~/.local/share/ov/pkg/isaac_sim-2021.2.0/ros_workspace/src/* ~/catkin_ws/src/.
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Isaac Sim 2021:
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For Lidar 3D Mode (lidar3d:=true), make sure in isaac sim that Carter robot is set with VLP16-like parameters (16 rings):
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Under World -> Carter_ROS -> chassis_link -> carter_lidar -> highLod = True
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-> verticalFov = 32
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-> verticalResolution = 2
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-> ROS_lidar -> pointCloudEnabled = True
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Isaac Sim 2022 (Action Graph):
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To enable all camera streams (right, depth left and depth right):
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1. Stage view -> World-> Carter_ROS, right-click on ROS_Cameras -> Open graph
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2. For all Branch nodes (green/red icon), select them, then check Compute Node -> Inputs -> Condition checkbox.
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3D LIDAR: TODO: didn't find how to enable/publish it.
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-->
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<param name="use_sim_time" value="true" />
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<arg name="localization" default="false" />
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<arg name="lidar3d" default="false" /> <!-- Best results if rtabmap is built with libpointmatcher -->
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<arg name="lidar3d_ray_tracing" default="true" />
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<arg name="lidar3d_grid3d" default="true" />
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<arg name="camera" default="true" />
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<arg name="stereo" default="false" /> <!-- RGB-D mode by default -->
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<!-- Load Robot Description -->
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<arg name="model" default="$(find carter_description)/urdf/carter.urdf"/>
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<param name="robot_description" textfile="$(arg model)" />
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<!-- Lidar 3D based on demo_husky.launch -->
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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 lidar3d)" name="args3d" value="--Icp/Iterations 10 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/PointToPlaneRadius 0 --Icp/MaxCorrespondenceDistance 1 --Grid/ClusterRadius 1 --Grid/RangeMax 10 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Mem/LaserScanNormalK 10 --Grid/3D $(arg lidar3d_grid3d)" />
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<arg unless="$(arg lidar3d)" name="args3d" value="--Grid/RangeMax 10" /> <!-- 2d scan, use default params -->
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<!-- RTAB-Map -->
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<remap from="/rtabmap/grid_map" to="/map"/>
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<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
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<arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
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<arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
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<arg name="localization" value="$(arg localization)"/>
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<arg if="$(arg lidar3d)" name="subscribe_scan_cloud" value="true"/>
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<arg unless="$(arg lidar3d)" name="subscribe_scan" value="true"/>
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<arg name="stereo" value="$(eval camera and stereo)"/>
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<arg name="depth" value="$(eval camera and not stereo)"/>
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<arg name="subscribe_rgb" value="$(arg camera)"/>
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<arg name="visual_odometry" value="false"/>
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<arg name="odom_topic" value="/odom"/>
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<arg name="frame_id" value="base_link"/>
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<arg name="depth_topic" value="/depth_left"/>
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<arg name="rgb_topic" value="/rgb_left"/>
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<arg name="camera_info_topic" value="/camera_info_left"/>
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<arg name="left_image_topic" value="/rgb_left"/>
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<arg name="left_camera_info_topic" value="/camera_info_left"/>
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<arg name="right_image_topic" value="/rgb_right"/>
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<arg name="right_camera_info_topic" value="/camera_info_right"/>
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<arg name="scan_topic" value="/scan"/>
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<arg name="scan_cloud_topic" value="/point_cloud"/>
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<arg name="rgbd_sync" value="true"/>
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<arg name="approx_rgbd_sync" value="false"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="tag_linear_variance" value="0.1"/>
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<arg name="tag_angular_variance" value="0.2"/>
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<arg name="scan_cloud_assembling" value="$(arg lidar3d)"/>
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<arg name="scan_cloud_assembling_fixed_frame" value="odom"/>
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<arg name="scan_cloud_assembling_range_max" value="60"/>
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<arg name="scan_cloud_assembling_voxel_size" value="$(arg cell_size)"/>
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</include>
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<param name="TrajectoryPlannerROS/max_vel_theta" value="0.3"/>
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<param name="TrajectoryPlannerROS/min_vel_theta" value="-0.3"/>
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<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find carter_2dnav)/params/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find carter_2dnav)/params/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find carter_2dnav)/params/base_local_planner_params.yaml" command="load" />
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</node>
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<node type="rviz" name="rviz" pkg="rviz" args="-d $(find carter_2dnav)/rviz/carter_2dnav.rviz" />
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</launch>
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