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
91 lines
4.6 KiB
XML
91 lines
4.6 KiB
XML
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<launch>
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<!-- RGB-D LOCALIZATION VERSION -->
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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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<!-- TF FRAMES -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
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<group ns="rtabmap">
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<!-- Odometry -->
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<node pkg="rtabmap" type="rgbd_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<param name="frame_id" type="string" value="base_link"/>
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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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</node>
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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="">
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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="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<remap from="odom" to="odom"/>
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<param name="queue_size" type="int" value="30"/>
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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="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
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<param name="Rtabmap/DetectionRate" type="string" value="1"/> <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
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<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
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<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
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<param name="LccBow/MinInliers" type="string" value="10"/> <!-- Minimum inliers to accept a loop closure -->
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
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</node>
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</group>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
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<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in 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="camera/rgb/image_rect_color"/>
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<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
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<remap from="odom_in" to="rtabmap/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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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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