mirror of
https://github.com/introlab/rtabmap_ros.git
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110 lines
4.9 KiB
XML
110 lines
4.9 KiB
XML
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<launch>
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<!-- Example to run rgbd datasets:
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$ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
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$ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag
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$ roslaunch rtabmap_ros rgbdslam_datasets.launch feature=6
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$ rosbag play -.-clock rgbd_dataset_freiburg3_long_office_household.bag
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-->
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<param name="use_sim_time" type="bool" value="True"/>
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<!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
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-Strategy: 0=BOW (bag-of-words) 1=Optical Flow
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-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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-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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-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="local_map" default="1000" />
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<!-- Choose visualization -->
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<arg name="rviz" default="true" />
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<arg name="rtabmapviz" default="false" />
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<!-- TF FRAMES -->
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<node pkg="tf" type="static_transform_publisher" name="world_to_map"
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args="0.0 0.0 0.0 0.0 0.0 0.0 /world /map 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="rgbd_odometry" output="screen">
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<remap from="rgb/image" to="/camera/rgb/image_color"/>
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<remap from="depth/image" to="/camera/depth/image"/>
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<remap from="rgb/camera_info" to="/camera/rgb/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="$(arg nn)"/>
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<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
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<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
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<param name="frame_id" type="string" value="kinect"/>
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<param name="publish_tf" type="bool" value="false"/>
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<param name="queue_size" type="int" value="30"/>
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<param name="wait_for_transform" type="bool" value="true"/>
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<param name="ground_truth_frame_id" type="string" value="world"/>
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</node>
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<!-- rename the child frame of odometry -->
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<node name="odom_msg_to_tf" pkg="rtabmap_ros" type="odom_msg_to_tf">
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<param name="frame_id" type="string" value="kinect_est"/>
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</node>
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<!-- Visual SLAM -->
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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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<param name="frame_id" type="string" value="kinect"/>
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<param name="ground_truth_frame_id" type="string" value="world"/>
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<remap from="rgb/image" to="/camera/rgb/image_color"/>
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<remap from="depth/image" to="/camera/depth/image"/>
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<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
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<remap from="odom" to="odom"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.05"/>
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<param name="queue_size" type="int" value="30"/>
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</node>
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<!-- Visualisation -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="false"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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<param name="queue_size" type="int" value="30"/>
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<param name="frame_id" type="string" value="kinect"/>
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<remap from="rgb/image" to="/camera/rgb/image_color"/>
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<remap from="depth/image" to="/camera/depth/image"/>
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<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
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<remap from="odom" to="odom"/>
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</node>
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</group>
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<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbdslam_datasets.rviz"/>
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
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<remap from="rgb/image" to="/camera/rgb/image_color"/>
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<remap from="depth/image" to="/camera/depth/image"/>
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<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="decimation" type="double" value="4"/>
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</node>
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</launch>
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