mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
1764c88f05
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1269 f169173b-cf89-36c8-b27e-44dbe73f0c83
51 lines
2.5 KiB
XML
51 lines
2.5 KiB
XML
|
|
<launch>
|
|
|
|
<!-- TF FRAMES -->
|
|
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
|
|
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
|
|
|
|
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
|
|
|
|
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
|
|
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
|
|
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
|
|
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
|
|
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
|
|
<remap from="odom_in" to="odom"/>
|
|
|
|
<remap from="rgb/image_out" to="data_odom_sync/image"/>
|
|
<remap from="depth/image_out" to="data_odom_sync/depth"/>
|
|
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
|
|
<remap from="odom_out" to="odom_sync"/>
|
|
|
|
<param name="queue_size" type="int" value="30"/>
|
|
</node>
|
|
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
|
|
<remap from="rgb/image" to="data_odom_sync/image"/>
|
|
<remap from="depth/image" to="data_odom_sync/depth"/>
|
|
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
|
|
<remap from="cloud" to="voxel_cloud" />
|
|
|
|
<param name="queue_size" type="int" value="10"/>
|
|
<param name="voxel_size" type="double" value="0.01"/>
|
|
</node>
|
|
|
|
<!-- Odometry -->
|
|
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
|
|
<remap from="rgb/image" to="camera/rgb/image_rect_color"/>
|
|
<remap from="depth/image" to="camera/depth_registered/image_raw"/>
|
|
<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
|
|
<remap from="odom" to="odom"/>
|
|
|
|
<param name="frame_id" type="string" value="base_link"/>
|
|
|
|
<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
|
|
<param name="Odom/Type" type="string" value="0"/> <!-- 0=SURF/SIFT 1=FAST/BRIEF -->
|
|
<param name="Kp/DetectorStrategy" type="string" value="1"/> <!-- 0=SURF 1=SIFT, used only when Odom/Type=0 -->
|
|
<param name="Odom/ResetCountdown" type="string" value="0"/> <!-- 0=disabled, otherwise countdown before auto-resetting odometry when lost. -->
|
|
</node>
|
|
|
|
<node pkg="rviz" type="rviz" name="rviz" output="screen"/>
|
|
</launch>
|