mirror of
https://github.com/introlab/rtabmap_ros.git
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51 lines
3.0 KiB
XML
51 lines
3.0 KiB
XML
<launch>
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<!-- APPEARANCE-BASED LOOP CLOSURE DETECTION VERSION -->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<group ns="rtabmap">
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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="false"/> <!-- must be false for appearance-based mode -->
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<param name="subscribe_laserScan" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
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<param name="queue_size" type="int" value="10"/>
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<remap from="rgb/image" to="/image"/> <!-- connect to "image" topic of the camera below -->
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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/Enabled" type="string" value="false"/> <!-- False: appearance-based -->
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<param name="Rtabmap/ImageBufferSize" type="string" value="0"/> <!-- process all images -->
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<param name="Rtabmap/DetectionRate" type="string" value="0"/> <!-- Go as fast as the camera rate (here 2 Hz, see below) -->
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<param name="Mem/RehearsalSimilarity" type="string" value="0.4"/> <!-- 40% -->
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<param name="Mem/STMSize" type="string" value="15"/> <!-- 15 locations in short-term memory -->
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<param name="Mem/IncrementalMemory" type="string" value="true"/> <!-- true = SLAM mode -->
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<param name="Mem/RehearsalIdUpdatedToNewOne" type="string" value="true"/> <!-- On merging, update to new ID-->
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<param name="Mem/BadSignaturesIgnored" 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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<!-- visualization of the "infoEx" topic sent by rtabmap node -->
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<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen" args="-d $(find rtabmap_ros)/launch/config/appearance_gui.ini">
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<!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
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<!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
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<param name="camera_node_name" type="string" value="/camera"/>
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</node>
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</group>
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<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
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<node name="camera" pkg="rtabmap_ros" type="camera" output="screen">
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<remap from="image" to="image"/>
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<param name="device_id" value="0" type="int"/>
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<param name="video_or_images_path" value="$(find rtabmap_ros)/launch/data/demo_appearance" type="string"/>
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<param name="frame_rate" value="2.0" type="double"/>
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<param name="width" value="0" type="int"/>
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<param name="height" value="0" type="int"/>
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<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
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</node>
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</launch>
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