mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
125 lines
6.4 KiB
XML
125 lines
6.4 KiB
XML
<?xml version="1.0"?>
|
|
<launch>
|
|
<!-- 1) Make sure rtabmap is built with libpointmatcher for lidar:=true option (lidar SLAM)
|
|
|
|
2) Install https://github.com/jmscslgroup/catvehicle
|
|
We need a stereo camera and velodyne point cloud looking like the real
|
|
sensor (ring-like pattern), so we have to modifiy the default catvehicle
|
|
urdf. First we have to install velodyne_simulator package to have the
|
|
right gazebo plugin and copy this modified velodyne config:
|
|
* sudo apt install ros-$ROS_DISTRO-velodyne-simulator
|
|
* cp ~/catkin_ws/src/rtabmap_ros/rtabmap_demos/launch/config/catvehicle_velodyne_points.gazebo ~/catkin_ws/src/catvehicle/urdf/.
|
|
Secondly, we have to modify the triclops config to make it stereo:
|
|
* cp ~/catkin_ws/src/rtabmap_ros/rtabmap_demos/launch/config/catvehicle_triclops.gazebo ~/catkin_ws/src/catvehicle/urdf/.
|
|
Set world->map frame instead of world->odom frame here:
|
|
* https://github.com/jmscslgroup/catvehicle/blob/f58cc64103538bc93cd42dd30f59c4b937151f88/launch/catvehicle.launch#L104
|
|
|
|
3) roslaunch catvehicle catvehicle_city.launch gui:=true
|
|
4) roslaunch catvehicle catvehicle_spawn.launch velodyne_points:=true triclops:=true Z:=5
|
|
5) roslaunch catvehicle joystick.launch
|
|
6) SLAM, 3 choices:
|
|
A) LiDAR-SLAM + Visual loop closure detection:
|
|
roslaunch rtabmap_demos demo_catvehicle_mapping.launch
|
|
B) LiDAR-SLAM without camera:
|
|
roslaunch rtabmap_demos demo_catvehicle_mapping.launch camera:=false
|
|
C) Visual-SLAM without lidar:
|
|
roslaunch rtabmap_demos demo_catvehicle_mapping.launch lidar:=false
|
|
|
|
Note: Gazebo real-time factor should be equal or below 1. If it is over 1,
|
|
in gazebo client, select Physics, then change real time update rate to 500.
|
|
-->
|
|
<arg name="camera" default="true" />
|
|
<arg name="lidar" default="true" />
|
|
<arg name="cell_size" default="0.2" />
|
|
<arg name="rtabmap_viz" default="true" />
|
|
<arg name="rviz" default="true" />
|
|
<arg name="light" default="false" /> <!-- Don't record all scans if false -->
|
|
<arg name="altitude" default="0" /> <!-- assemble occupancy grids by altitude (radius in meters, 0=disabled) -->
|
|
<arg name="localization" default="false" />
|
|
|
|
<!-- Common parameters -->
|
|
<arg name="common_args" value="
|
|
--Rtabmap/DetectionRate 2
|
|
--Mem/STMSize 30
|
|
--Mem/LaserScanNormalK 10
|
|
--OdomF2M/ScanMaxSize 30000
|
|
--Odom/ScanKeyFrameThr 0.6
|
|
--Icp/VoxelSize $(arg cell_size)
|
|
--Icp/Iterations 10
|
|
--Icp/MaxTranslation 2
|
|
--Icp/RangeMin 1
|
|
--Icp/PointToPlaneGroundNormalsUp 0.9
|
|
--Icp/PointToPlaneRadius 0
|
|
--Icp/MaxCorrespondenceDistance 1
|
|
--Grid/ClusterRadius 1
|
|
--Grid/RangeMax 20
|
|
--Grid/RangeMin 2
|
|
--Grid/RayTracing true
|
|
--Grid/CellSize $(arg cell_size)
|
|
--Grid/PreVoxelFiltering false
|
|
--Grid/3D false
|
|
--Grid/DepthRoiRatios '0 0 0 0.3'
|
|
--Grid/MaxObstacleHeight 4
|
|
--Kp/RoiRatios '0 0 0 0.3'
|
|
--Vis/RoiRatios '0 0 0 0.3'
|
|
--RGBD/LinearUpdate 0.2
|
|
--RGBD/OptimizeMaxError 1
|
|
--GridGlobal/AltitudeDelta $(arg altitude)"/>
|
|
|
|
<arg if="$(arg localization)" name="clear_db" value="" />
|
|
<arg unless="$(arg localization)" name="clear_db" value="-d" />
|
|
|
|
<!-- RTAB-Map -->
|
|
<remap from="/catvehicle/grid_map" to="/catvehicle/map"/>
|
|
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
|
|
<arg name="namespace" value="catvehicle"/>
|
|
|
|
<!-- LiDAR SLAM parameters -->
|
|
<arg if="$(arg lidar)" name="args" value="$(arg clear_db) $(arg common_args)
|
|
--Reg/Strategy 1"/>
|
|
|
|
<!-- Visual SLAM parameters -->
|
|
<arg unless="$(arg lidar)" name="args" value="$(arg clear_db) $(arg common_args)
|
|
--Reg/Strategy 0
|
|
--Grid/NormalsSegmentation false
|
|
--Grid/MaxGroundHeight 0.7
|
|
--Grid/NoiseFilteringRadius 0.5"/>
|
|
|
|
<arg name="localization" value="$(arg localization)"/>
|
|
<arg name="subscribe_scan_cloud" value="$(arg lidar)"/>
|
|
<arg name="stereo" value="$(arg camera)"/>
|
|
<arg unless="$(arg camera)" name="depth" value="false"/>
|
|
<arg unless="$(arg camera)" name="subscribe_rgb" value="false"/>
|
|
<arg if="$(arg lidar)" name="icp_odometry" value="true"/>
|
|
<arg unless="$(arg lidar)" name="visual_odometry" value="true"/>
|
|
|
|
<arg if="$(arg lidar)" name="odom_topic" value="lidar_odom"/>
|
|
<arg unless="$(arg lidar)" name="odom_topic" value="visual_odom"/>
|
|
|
|
<arg name="odom_guess_frame_id" value="catvehicle/odom"/>
|
|
<arg name="frame_id" value="catvehicle/base_link"/>
|
|
<arg name="map_frame_id" value="catvehicle/map"/>
|
|
<arg if="$(arg lidar)" name="vo_frame_id" value="catvehicle/lidar_odom"/>
|
|
<arg unless="$(arg lidar)" name="vo_frame_id" value="catvehicle/visual_odom"/>
|
|
|
|
<arg name="stereo_namespace" value="/catvehicle/triclops"/>
|
|
<arg name="right_image_topic" value="/catvehicle/triclops/right/image_rect_color"/>
|
|
<arg name="scan_cloud_topic" value="/catvehicle/velodyne_points"/>
|
|
<arg name="rgbd_sync" value="$(arg camera)"/>
|
|
<arg name="approx_rgbd_sync" value="false"/>
|
|
<arg name="approx_sync" value="$(eval camera and lidar)"/>
|
|
<arg name="use_sim_time" value="true"/>
|
|
<arg name="wait_for_transform" value="0.3"/>
|
|
|
|
<arg name="rtabmap_viz" value="$(arg rtabmap_viz)"/>
|
|
|
|
<arg name="scan_cloud_assembling" value="$(eval lidar and not light)"/>
|
|
<arg name="scan_cloud_assembling_fixed_frame" value="catvehicle/lidar_odom"/>
|
|
<arg name="scan_cloud_assembling_range_max" value="60"/>
|
|
<arg name="scan_cloud_assembling_voxel_size" value="$(arg cell_size)"/>
|
|
<arg name="scan_cloud_assembling_range_min" value="2"/>
|
|
</include>
|
|
|
|
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/catvehicle.rviz"/>
|
|
</launch>
|