mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
109 lines
5.1 KiB
XML
109 lines
5.1 KiB
XML
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<launch>
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<!-- Kinect 2
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Install Kinect2 : Follow ALL directives at https://github.com/code-iai/iai_kinect2
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Make sure it is calibrated!
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Run:
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$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
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$ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch
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-->
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<!-- Which image resolution to process in rtabmap: sd, qhd, hd -->
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<arg name="resolution" default="qhd" />
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<!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
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<arg name="frame_id" default="kinect2_base_link"/>
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<!-- Rotate the camera -->
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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="kinect2_base_link"
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args="$(arg optical_rotate) kinect2_base_link kinect2_link 100" />
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<!-- Choose visualization -->
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<arg name="rviz" default="false" />
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<arg name="rtabmapviz" default="true" />
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<!-- Corresponding config files -->
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<arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
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<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
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<!-- slightly increase default parameters for larger images (qhd=720p) -->
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<arg name="gftt_block_size" default="5" />
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<arg name="gftt_min_distance" default="5" />
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<group ns="rtabmap">
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<!-- Odometry -->
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<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
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<remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
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<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="approx_sync" type="bool" value="false"/>
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<param name="GFTT/BlockSize" type="string" value="$(arg gftt_block_size)"/>
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<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
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</node>
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<!-- Visual SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
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<remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
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<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
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<param name="approx_sync" type="bool" value="false"/>
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<param name="GFTT/BlockSize" type="string" value="$(arg gftt_block_size)"/>
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<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
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</node>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
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<remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
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<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
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</node>
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</group>
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<!-- Visualization RVIZ -->
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<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
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<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
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<remap from="rgb/image_in" to="/kinect2/$(arg resolution)/image_color_rect"/>
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<remap from="depth/image_in" to="/kinect2/$(arg resolution)/image_depth_rect"/>
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<remap from="rgb/camera_info_in" to="/kinect2/$(arg resolution)/camera_info"/>
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<remap from="odom_in" to="rtabmap/odom"/>
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<param name="approx_sync" type="bool" value="false"/>
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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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</node>
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<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/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="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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