<launch>
<arg name="database_path" default="rtabmap.db"/>
<arg name="rgbd_odometry" default="false"/>
<arg name="rtabmapviz" default="false"/>
<arg name="localization" default="false"/>
<arg name="simulation" default="false"/>
<arg name="sw_registered" default="false"/>
<arg if="$(arg localization)" name="args" default=""/>
<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
<arg if="$(arg simulation)" name="rgb_topic" default="/camera/rgb/image_raw"/>
<arg unless="$(arg simulation)" name="rgb_topic" default="/camera/rgb/image_rect_color"/>
<arg if="$(arg simulation)" name="depth_topic" default="/camera/depth/image_raw"/>
<arg unless="$(arg simulation)" name="depth_topic" default="/camera/depth_registered/image_raw"/>
<arg name="camera_info_topic" default="/camera/rgb/camera_info"/>
<arg name="wait_for_transform" default="0.2"/>
<!-- Mapping -->
<group ns="rtabmap">
<!-- Use RGBD synchronization -->
<!-- Here is a general example using a standalone nodelet,
but it is recommended to attach this nodelet to nodelet
manager of the camera to avoid topic serialization -->
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="rgbd_image" to="rgbd_image"/> <!-- output -->
<!-- Should be true for not synchronized camera topics
(e.g., false for kinectv2, zed, realsense, true for xtion, kinect360)-->
<param name="approx_sync" value="true"/>
</node>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_link"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/odom"/>
<remap from="scan" to="/scan"/>
<remap from="rgbd_image" to="rgbd_image"/>
<param name="queue_size" type="int" value="30"/>
<!-- RTAB-Map's parameters -->
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Grid/FromDepth" type="string" value="false"/> <!-- occupancy grid from lidar -->
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- 1=ICP -->
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.05"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="0.1"/>
</node>
<!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. -->
<node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/InlierDistance" type="string" value="0.05"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- visualization with rtabmapviz -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="false"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="scan" to="/scan"/>
</node>
</group>
</launch>
展示全文
