mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
90 lines
4.7 KiB
XML
90 lines
4.7 KiB
XML
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<launch>
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<!-- ROBOT LOCALIZATION VERSION: use this with ROS bag demo_mapping.bag -->
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<!-- A database "~/.ros/rtabmap.db" must be already created from -->
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<!-- the "demo_robot_mapping.launch" demo -->
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<!-- Once RTAB-Map GUI started, you can do "Edit->Download Map" to get all the map in the GUI -->
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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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<param name="use_sim_time" type="bool" value="True"/>
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<group ns="rtabmap">
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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="/az3/base_controller/odom"/>
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<remap from="scan" to="/jn0/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="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="Mem/InitWMWithAllNodes" type="string" value="true"/> <!-- Load the full global map in RAM -->
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<param name="RGBD/PoseScanMatching" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
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<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
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<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
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<param name="LccIcp2/MaxFitness" type="string" value="10"/>
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<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
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<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
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</node>
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<!-- Grid map assembler for rviz -->
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<node if="$(arg rviz)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
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<param name="unknown_space_filled" type="bool" value="false"/>
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</node>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<remap from="rgb/image" to="/data_throttled_image"/>
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<remap from="depth/image" to="/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
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<remap from="scan" to="/jn0/base_scan"/>
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<remap from="odom" to="/az3/base_controller/odom"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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</node>
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</group>
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<!-- Visualisation RVIZ -->
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<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
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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="cloud" to="voxel_cloud" />
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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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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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