mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
96 lines
4.4 KiB
XML
96 lines
4.4 KiB
XML
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<launch>
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<!-- MULTI-SESSION MAPPING VERSION -->
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<!-- Choose visualization -->
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<arg name="rviz" default="false" />
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<arg name="rtabmapviz" default="true" />
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<param name="use_sim_time" type="bool" value="True"/>
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<group ns="rtabmap">
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<!-- 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="">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<remap from="odom" to="/base_controller/odom"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="rgb/image" to="/data_throttled_image"/>
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<remap from="depth/image" to="/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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<param name="queue_size" type="int" value="10"/>
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<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
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<param name="RGBD/PoseScanMatching" type="string" value="false"/>
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
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<param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
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<param name="LccIcp/Type" type="string" value="2"/>
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<param name="LccIcp2/Iterations" type="string" value="100"/>
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<param name="LccIcp2/VoxelSize" type="string" value="0"/>
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<param name="LccBow/MinInliers" type="string" value="5"/>
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<param name="LccBow/MaxDepth" type="string" value="4.0"/>
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<param name="LccBow/InlierDistance" type="string" value="0.1"/>
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<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
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<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
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<param name="Kp/TfIdfLikelihoodUsed" type="string" value="false"/>
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<param name="Bayes/FullPredictionUpdate" type="string" value="true"/>
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<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
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<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
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</node>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<remap from="rgb/image" to="/data_throttled_image"/>
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<remap from="depth/image" to="/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="odom" to="/base_controller/odom"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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</node>
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<!-- Grid map assembler for rviz -->
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<node if="$(arg rviz)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
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<param name="unknown_space_filled" type="bool" value="false"/>
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</node>
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</group>
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<!-- Visualisation RVIZ -->
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<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz"/>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
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<remap from="rgb/image" to="/data_throttled_image"/>
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<remap from="depth/image" to="/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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