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rtabmap_ros/launch/tests/test_ouster_gen2.launch
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<launch>
<!--
Hand-held 3D lidar mapping example using only a Ouster GEN2 (no camera).
Prerequisities: rtabmap should be built with libpointmatcher
Example:
$ roslaunch rtabmap_ros test_ouster_gen2.launch sensor_hostname:=os-XXXXXXXXXXXX.local udp_dest:=192.168.1.XXX
$ rosrun rviz rviz -f map
RVIZ: Show TF and /rtabmap/cloud_map topics
ISSUE: You may have to reset odometry after receiving the first cloud if the map looks tilted. The problem seems
coming from the first cloud sent by os_cloud_node, which may be poorly synchronized with IMU data.
PTP mode (synchronize timestamp with host computer time)
* Install:
$ sudo apt install linuxptp httpie
$ printf "[global]\ntx_timestamp_timeout 10\n" >> ~/os.conf
* Running:
(replace "XXXXXXXXXXXX" by your ouster serial, as well as XXX by its IP address)
(replace "eth0" by the network interface used to communicate with ouster)
$ http PUT http://os-XXXXXXXXXXXX.local/api/v1/time/ptp/profile <<< '"default-relaxed"'
$ sudo ptp4l -i eth0 -m -f ~/os.conf -S
$ roslaunch rtabmap_ros test_ouster_gen2.launch sensor_hostname:=os-XXXXXXXXXXXX.local udp_dest:=192.168.1.XXX ptp:=true
-->
<arg name="use_sim_time" default="false"/>
<!-- Required: -->
<arg unless="$(arg use_sim_time)" name="sensor_hostname"/>
<arg unless="$(arg use_sim_time)" name="udp_dest"/>
<arg name="frame_id" default="os_sensor"/>
<arg name="rtabmapviz" default="true"/>
<arg name="scan_20_hz" default="true"/>
<arg name="voxel_size" default="0.15"/> <!-- indoor: 0.1 to 0.3, outdoor: 0.3 to 0.5 -->
<arg name="assemble" default="false"/>
<arg name="ptp" default="false"/> <!-- See comments in header to start before launching the launch -->
<arg name="distortion_correction" default="false"/> <!-- Requires this pull request: https://github.com/ouster-lidar/ouster_example/pull/245 -->
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
<!-- Ouster -->
<include unless="$(arg use_sim_time)" file="$(find ouster_ros)/ouster.launch">
<arg name="sensor_hostname" value="$(arg sensor_hostname)"/>
<arg name="udp_dest" value="$(arg udp_dest)"/>
<arg name="image" value="true"/>
<arg if="$(arg scan_20_hz)" name="lidar_mode" value="1024x20"/>
<arg unless="$(arg scan_20_hz)" name="lidar_mode" value="1024x10"/>
<arg if="$(arg ptp)" name="timestamp_mode" value="TIME_FROM_PTP_1588"/>
<arg if="$(arg distortion_correction)" name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
</include>
<!-- IMU orientation estimation and publish tf accordingly to os_sensor frame -->
<node pkg="nodelet" type="nodelet" name="imu_nodelet_manager" args="manager">
<remap from="imu/data_raw" to="/os_cloud_node/imu"/>
<remap from="imu/data" to="/os_cloud_node/imu/data"/>
</node>
<node pkg="nodelet" type="nodelet" name="imu_filter" args="load imu_filter_madgwick/ImuFilterNodelet imu_nodelet_manager">
<param name="use_mag" value="false"/>
<param name="world_frame" value="enu"/>
<param name="publish_tf" value="false"/>
</node>
<node pkg="nodelet" type="nodelet" name="imu_to_tf" args="load rtabmap_ros/imu_to_tf imu_nodelet_manager">
<remap from="imu/data" to="/os_cloud_node/imu/data"/>
<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
<param name="base_frame_id" value="$(arg frame_id)"/>
</node>
<group ns="rtabmap">
<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
<remap from="scan_cloud" to="/os_cloud_node/points"/>
<remap from="imu" to="/os_cloud_node/imu/data"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
<param name="guess_frame_id" type="string" value="$(arg frame_id)_stabilized"/>
<param name="wait_imu_to_init" type="bool" value="true"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/VoxelSize" type="string" value="$(arg voxel_size)"/>
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/MaxTranslation" type="string" value="2"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.1"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.95"/>
<param name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg voxel_size)"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
</node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<remap if="$(arg assemble)" from="scan_cloud" to="assembled_cloud"/>
<remap unless="$(arg assemble)" from="scan_cloud" to="/os_cloud_node/points"/>
<remap from="imu" to="/os_cloud_node/imu/data"/>
<!-- RTAB-Map's parameters -->
<param if="$(arg assemble)" name="Rtabmap/DetectionRate" type="string" value="0"/> <!-- already set 1 Hz in point_cloud_assembler -->
<param unless="$(arg assemble)" name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
<param name="RGBD/LocalRadius" type="string" value="2"/>
<param name="RGBD/AngularUpdate" type="string" value="0.05"/>
<param name="RGBD/LinearUpdate" type="string" value="0.05"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Mem/STMSize" type="string" value="30"/>
<!-- param name="Mem/LaserScanVoxelSize" type="string" value="0.1"/ -->
<!-- param name="Mem/LaserScanNormalK" type="string" value="10"/ -->
<!-- param name="Mem/LaserScanRadius" type="string" value="0"/ -->
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Optimizer/GravitySigma" type="string" value="0.5"/>
<param name="Optimizer/Strategy" type="string" value="1"/>
<param name="Grid/CellSize" type="string" value="0.1"/>
<param name="Grid/RangeMax" type="string" value="20"/>
<param name="Grid/ClusterRadius" type="string" value="1"/>
<param name="Grid/GroundIsObstacle" type="string" value="true"/>
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="$(arg voxel_size)"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/MaxTranslation" type="string" value="3"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.2"/>
</node>
<node if="$(arg assemble)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" output="screen">
<remap from="cloud" to="/os_cloud_node/points"/>
<remap from="odom" to="odom"/>
<param name="assembling_time" type="double" value="1" />
<param name="fixed_frame_id" type="string" value="" />
</node>
<node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<remap from="scan_cloud" to="/os_cloud_node/points"/>
</node>
</group>
</launch>
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