mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
66 lines
3.0 KiB
XML
66 lines
3.0 KiB
XML
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<launch>
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<!-- MULTI-SESSION MAPPING VERSION -->
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<param name="use_sim_time" type="bool" value="True"/>
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<!-- 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="">
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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="rgb/image" to="data_throttled_image"/>
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<remap from="depth/image" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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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="0"/>
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
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<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
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<param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
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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="LccBow/MinInliers" type="string" value="5"/>
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<param name="LccBow/MaxDepth" type="string" value="4.0"/>
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<param name="LccBow/InlierDistance" type="string" value="0.1"/>
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<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
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<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
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<param name="Rtabmap/TimeThr" type="string" value="700"/>
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<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
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<param name="Kp/TfIdfLikelihoodUsed" type="string" value="false"/>
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<param name="Bayes/FullPredictionUpdate" type="string" value="true"/>
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</node>
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<!-- Visualisation (client side) -->
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<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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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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<param name="queue_size" type="int" value="10"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<remap from="rgb/image" to="data_throttled_image"/>
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<remap from="depth/image" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="odom" to="/base_controller/odom"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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</node>
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</launch>
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