mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
120 lines
6.3 KiB
XML
120 lines
6.3 KiB
XML
<launch>
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<!--
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Examples:
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F2M (default VO):
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$ roslaunch rtabmap_ros euroc_datasets.launch
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$ rosbag play -.-clock V1_01_easy.bag
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For MH sequences, we should set MH_seq to true because the ground truth source is different.
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$ roslaunch rtabmap_ros euroc_datasets.launch MH_seq:=true
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$ rosbag play -.-clock MH_01_easy.bag
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MSCKF (VIO):
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$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 8"
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$ rosbag play -.-clock V1_01_easy.bag
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We need to ignore the first 24 seconds for correct VIO initialization (drone should not move).
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$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 8" MH_seq:=true
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$ rosbag play -.-clock -s 24 MH_01_easy.bag
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OKVIS (VIO):
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$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 6 OdomOKVIS/ConfigPath ~/okvis/config/config_fpga_p2_euroc.yaml" MH_seq:=true raw_images_for_odom:=true
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$ rosbag play -.-clock MH_01_easy.bag
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VINS (VIO):
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$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml" MH_seq:=true raw_images_for_odom:=true
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$ rosbag play -.-clock MH_01_easy.bag
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VINS (VO):
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$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml" MH_seq:=true raw_images_for_odom:=true
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$ rosbag play -.-clock MH_01_easy.bag
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-->
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<param name="use_sim_time" value="true"/>
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<arg name="feature_type" default="6"/>
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<arg name="gravity_opt" default="false"/> <!-- Rtabmap will use IMU data to add gravity constraints to graph -->
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<arg name="args" default=""/>
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<arg if="$(arg gravity_opt)" name="common_args" default="-d --RGBD/CreateOccupancyGrid false --Odom/FeatureType $(arg feature_type) --Kp/DetectorStrategy $(arg feature_type) --Optimizer/GravitySigma 0.3 $(arg args)"/>
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<arg unless="$(arg gravity_opt)" name="common_args" default="-d --RGBD/CreateOccupancyGrid false --Odom/FeatureType $(arg feature_type) --Kp/DetectorStrategy $(arg feature_type) $(arg args) "/>
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<arg name="cfg" default=""/>
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<arg name="MH_seq" default="false"/> <!-- For MH sequences, the ground truth is coming from a different topic -->
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<arg name="raw_images_for_odom" default="false"/>
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<arg name="record_ground_truth" default="false"/>
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<arg name="rtabmapviz" default="true"/>
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<arg name="rviz" default="false"/>
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<!-- Image rectification and publishing synchronized camera_info-->
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<group ns="stereo_camera">
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<node pkg="rtabmap_ros" type="yaml_to_camera_info.py" name="yaml_to_camera_info_left">
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<param name="yaml_path" value="$(find rtabmap_ros)/launch/calibration/euroc_left.yaml"/>
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<remap from="image" to="/cam0/image_raw"/>
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<remap from="camera_info" to="left/camera_info"/>
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</node>
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<node pkg="rtabmap_ros" type="yaml_to_camera_info.py" name="yaml_to_camera_info_right">
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<param name="yaml_path" value="$(find rtabmap_ros)/launch/calibration/euroc_right.yaml"/>
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<param name="frame_id" value="cam1"/>
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<remap from="image" to="/cam1/image_raw"/>
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<remap from="camera_info" to="right/camera_info"/>
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</node>
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<node unless="$(arg raw_images_for_odom)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
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<remap from="left/image_raw" to="/cam0/image_raw"/>
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<remap from="right/image_raw" to="/cam1/image_raw"/>
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</node>
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</group>
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<!-- TF frames -->
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<node pkg="tf" type="static_transform_publisher" name="imu_base_link" args="0 0 0 3.1415926 -1.570796 0 base_link imu4 5"/>
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<node pkg="tf" type="static_transform_publisher" name="cam0_imu_link" args="-0.021640 -0.064677 0.009811 1.555925 0.025777 0.003757 imu4 cam0 50"/>
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<node pkg="tf" type="static_transform_publisher" name="cam1_imu_link" args="-0.019844 0.045369 0.007862 1.558237 0.025393 0.017907 imu4 cam1 50"/>
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<!-- For MH sequences, /leica/position doesn't give the orientation, so minimal ground truth error could be as high as 12 cm -->
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<node if="$(arg MH_seq)" pkg="tf" type="static_transform_publisher" name="leica_base_link" args="0.120209 -0.0184772 -0.0748903 0 0 0 leica base_link_gt 100"/>
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<node unless="$(arg MH_seq)" pkg="tf" type="static_transform_publisher" name="vicon_base_link" args="0.12395 -0.02781 -0.06901 0 0 0 vicon/firefly_sbx/firefly_sbx base_link_gt 100"/>
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<node if="$(arg MH_seq)" pkg="rtabmap_ros" type="point_to_tf.py" name="point_to_tf">
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<remap from="point" to="/leica/position"/>
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<param name="frame_id" value="leica"/>
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<param name="fixed_frame_id" value="world"/>
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</node>
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<node unless="$(arg MH_seq)" pkg="rtabmap_ros" type="transform_to_tf.py" name="transform_to_tf">
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<remap from="transform" to="/vicon/firefly_sbx/firefly_sbx"/>
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<param name="frame_id" value="world"/>
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<param name="child_frame_id" value="vicon/firefly_sbx/firefly_sbx"/>
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</node>
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<node pkg="tf" type="static_transform_publisher" name="world_to_map" args="0.0 0.0 0.0 0.0 0.0 0.0 /world /map 100" />
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<node pkg="imu_complementary_filter" type="complementary_filter_node" name="imu_filter" output="screen">
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<remap from="imu/data_raw" to="/imu0"/>
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<param name="use_mag" value="false"/>
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<param name="world_frame" value="enu"/>
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<param name="publish_tf" value="false"/>
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</node>
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<!-- RTAB-Map -->
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<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg if="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg common_args) --Rtabmap/ImagesAlreadyRectified false"/>
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<arg unless="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg common_args)"/>
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<arg if="$(arg raw_images_for_odom)" name="odom_args" value="--Rtabmap/ImagesAlreadyRectified false"/>
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<arg if="$(arg raw_images_for_odom)" name="left_image_topic" value="/cam0/image_raw"/>
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<arg if="$(arg raw_images_for_odom)" name="right_image_topic" value="/cam1/image_raw"/>
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<arg name="stereo" value="true"/>
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<arg name="frame_id" value="base_link"/>
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<arg name="wait_for_transform" value="0.1"/>
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<arg if="$(arg record_ground_truth)" name="ground_truth_frame_id" value="world"/>
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<arg if="$(arg record_ground_truth)" name="ground_truth_base_frame_id" value="base_link_gt"/>
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<arg name="cfg" value="$(arg cfg)"/>
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<arg name="imu_topic" value="/imu/data"/>
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<arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
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<arg name="rviz" value="$(arg rviz)"/>
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<arg name="wait_imu_to_init" value="true"/>
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</include>
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</launch>
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