mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
matlabbe
c6c094f565
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2004 f169173b-cf89-36c8-b27e-44dbe73f0c83
147 lines
6.2 KiB
XML
147 lines
6.2 KiB
XML
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<launch>
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<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<node name="joy" pkg="joy" type="joy_node"/>
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<group ns="teleop">
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<remap from="joy" to="/joy"/>
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<node name="teleop" pkg="nodelet" type="nodelet"
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args="standalone azimut_tools/Teleop"/>
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<param name="cmd_eta/abtr_priority" value="50"/>
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</group>
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<group ns="go_back">
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<remap from="joy" to="/joy"/>
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<remap from="goal" to="/planner_goal"/>
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<node name="go_back" pkg="azimut_tools" type="go_back"/>
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<rosparam>
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btn_save: 1
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btn_goto: 3
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</rosparam>
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</group>
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<group ns="planner">
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<remap from="openni_points" to="/planner_cloud"/>
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<remap from="base_scan" to="/base_scan"/>
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<remap from="map" to="/map"/>
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<remap from="move_base_simple/goal" to="/planner_goal"/>
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<include file="$(find az3_navigation)/launch/az3_move_base_slam.launch"/>
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<param name="cmd_vel/abtr_priority" value="10"/>
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</group>
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<node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
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<remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
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</node>
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<node name="register_cmd_eta" pkg="abtr_priority" type="register"
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args="/cmd_eta /teleop/cmd_eta"/>
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<node name="register_cmd_vel" pkg="abtr_priority" type="register"
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args="/cmd_vel /planner/cmd_vel"/>
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<!-- OpenNI -->
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<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
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<param name="max_rate" type="double" value="5.0"/>
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<remap from="rgb/image_in" to="rgb/image_rect_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
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<remap from="rgb/image_out" to="data_throttled_image"/>
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<remap from="depth/image_out" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
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</node>
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<!-- for the planner -->
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb_planner" args="load rtabmap/point_cloud_xyzrgb camera_nodelet_manager">
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<remap from="rgb/image" to="/camera/data_throttled_image"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
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<remap from="cloud" to="/planner_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="decimation" type="int" value="4"/>
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</node>
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</group>
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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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="mapData" to="mapData"/>
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<remap from="rgb/image" to="/camera/data_throttled_image"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
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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/ScanMatchingSize" type="string" value="1"/>
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
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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="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
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<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
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<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
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<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
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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="RGBD/ToroIterations" type="string" value="0"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
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<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
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<param name="Kp/DetectorStrategy" type="string" value="0"/>
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<param name="Kp/WordsPerImage" type="string" value="200"/>
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<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
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<param name="Kp/NNStrategy" type="string" value="1"/>
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<param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
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<param name="SURF/HessianThreshold" type="string" value="1000"/>
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<param name="LccBow/MaxDepth" type="string" value="4"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="0.1"/>
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<param name="LccReextract/Activated" type="string" value="true"/>
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<param name="LccReextract/FeatureType" type="string" value="4"/>
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<param name="LccReextract/MaxWords" type="string" value="400"/>
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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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<!-- Disable graph optimization because we use map_optimizer node below -->
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<param name="RGBD/ToroIterations" type="string" value="0"/>
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</node>
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<!-- to always have the global map optimized -->
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
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</group>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_optimized"/>
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<remap from="grid_map" to="map"/>
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</node>
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</launch>
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