mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
c0b0219e9e
-visual_odometry node is now called rgbd_odometry -added stereo_odometry node with test launch files -updated launch files accordingly to modified parameter names, default values or new parameters git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1850 f169173b-cf89-36c8-b27e-44dbe73f0c83
153 lines
7.3 KiB
XML
153 lines
7.3 KiB
XML
<launch>
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<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
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<param name="video_mode" value="format7_mode3" />
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<param name="format7_color_coding" value="raw16" />
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<param name="bayer_pattern" value="bggr" />
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<param name="bayer_method" value="" />
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<param name="stereo_method" value="Interlaced" />
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<param name="camera_info_url_left" value="" />
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<param name="camera_info_url_right" value="" />
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</node>
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<arg name="pi/2" value="1.5707963267948966" />
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<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
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<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
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args="$(arg optical_rotate) base_link stereo_camera 100" />
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<!-- Run the ROS package stereo_image_proc -->
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<group ns="/stereo_camera" >
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
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</node>
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</group>
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<!-- Run the ROS package stereo_image_proc for image rectification and disparity computation -->
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<group ns="/stereo_camera">
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap/disparity_to_depth standalone_nodelet"/>
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</group>
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<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
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<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
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<remap from="stereo" to="/stereo_camera"/>
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<remap from="image" to="image_rect"/>
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<param name="base_link_frame_id" value="base_link"/>
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<param name="odom_frame_id" value="/odom"/>
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<param name="ref_frame_change_method" value="1"/>
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</node>
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<!--
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<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
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<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
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<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
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<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info" />
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<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info" />
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<remap from="odometry" to="stereo_odometer/odometry" />
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</node>
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-->
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<!--
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<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
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<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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<remap from="odom_depth" to="/stereo_camera/depth2"/>
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<param name="frame_id" type="string" value="base_link"/>
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<param name="approx_sync" type="bool" value="false"/>
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<param name="Odom/Strategy" type="string" value="1"/>
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<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="Odom/MaxDepth" type="string" value="10"/>
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<param name="generate_depth" type="bool" value="false"/>
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<!-- Parameters below only used when "generate_depth"=true -->
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<param name="depth_patch_size" type="int" value="1"/>
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<param name="subpix_win_size" type="int" value="3"/>
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<param name="subpix_iterations" type="int" value="20"/>
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<param name="subpix_epsilon" type="double" value="0.02"/>
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<param name="flow_win_size" type="int" value="9"/>
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<param name="flow_max_level" type="int" value="4"/>
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<param name="flow_iterations" type="int" value="20"/>
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<param name="flow_epsilon" type="double" value="0.02"/>
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</node>
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-->
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<group ns="rtabmap">
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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" 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="/stereo_camera/left/image_rect_color"/>
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<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
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<remap from="depth/image" to="/stereo_camera/depth"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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<param name="frame_id" type="string" value="base_link"/>
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<param name="queue_size" type="int" value="30"/>
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="Rtabmap/DetectorStrategy" type="string" value="6"/>
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<param name="NN/NNStrategy" type="string" value="3"/>
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<param name="GFTT/MaxCorners" type="string" value="200"/>
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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="LccBow/MaxDepth" type="string" value="3"/>
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<param name="LccReextract/FeatureType" type="string" value="4"/>
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<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/>
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<param name="LccReextract/MaxDepth" type="string" value="3"/>
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<param name="LccReextract/NNDR" type="string" value="0.8"/>
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<param name="LccReextract/NNType" type="string" value="3"/>
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</node>
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<!-- Visualisation (client side) -->
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<!--
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<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/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="/stereo_camera/left/image_rect_color"/>
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<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
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<remap from="depth/image" to="/odom_depth"/>
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<remap from="odom" to="/stereo_odometer/odometry"/>
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</node>
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-->
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</group>
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<!-- RVIZ -->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
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<remap from="rgb/image_in" to="/stereo_camera/left/image_rect_color"/>
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<remap from="depth/image_in" to="/odom_depth"/>
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<remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
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<remap from="odom_in" to="/stereo_odometer/odom"/>
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<remap from="rgb/image_out" to="data_odom_sync/image"/>
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<remap from="depth/image_out" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
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<remap from="odom_out" to="odom_sync"/>
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<param name="queue_size" type="int" value="30"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="data_odom_sync/image"/>
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<remap from="depth/image" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info" to="data_odom_sync/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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</node>
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</launch> |