API tools faq
paste
Guest User

rtab_velo_puck

a guest
Mar 9th, 2021
247
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
XML 7.46 KB | None | 0 0
raw download clone embed print report
  1. <launch>
  2.  
  3.     <!--
  4.    Hand-held 3D lidar mapping example using only a Velodyne PUCK (no camera).
  5.    Prerequisities: rtabmap should be built with libpointmatcher
  6.    Example:
  7.     $ roslaunch rtabmap_ros test_velodyne.launch
  8.     $ rosrun rviz rviz -f map
  9.     $ Show TF and /rtabmap/cloud_map topics
  10.    -->
  11.  
  12.     <arg name="rtabmapviz"    default="true"/>
  13.     <arg name="use_imu"       default="false"/> <!-- Assuming IMU fixed to lidar with /velodyne -> /imu_link TF -->
  14.     <arg name="imu_topic"     default="/imu/data"/>
  15.     <arg name="scan_20_hz"    default="false"/> <!-- If we launch the velodyne with "rpm:=1200" argument -->
  16.     <arg name="use_sim_time"  default="true"/>
  17.     <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
  18.    
  19.     <arg name="frame_id" default="camera_init"/>
  20.    
  21.     <!-- <include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
  22.       <arg     if="$(arg scan_20_hz)" name="rpm" value="1200"/>
  23.       <arg unless="$(arg scan_20_hz)" name="rpm" value="600"/>
  24.    </include> -->
  25.    
  26.     <!-- IMU orientation estimation and publish tf accordingly to os1_sensor frame -->
  27.     <node if="$(arg use_imu)" pkg="rtabmap_ros" type="imu_to_tf" name="imu_to_tf">
  28.       <remap from="imu/data" to="$(arg imu_topic)"/>
  29.       <param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
  30.       <param name="base_frame_id" value="$(arg frame_id)"/>
  31.     </node>
  32.  
  33.     <group ns="rtabmap">
  34.       <node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
  35.         <remap from="scan_cloud" to="/velodyne_cloud_registered"/>
  36.         <param name="frame_id"        type="string" value="$(arg frame_id)"/>  
  37.         <param name="odom_frame_id"   type="string" value="aft_mapped"/>
  38.         <param     if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="10"/>
  39.         <param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="10"/>
  40.  
  41.         <remap if="$(arg use_imu)" from="imu" to="$(arg imu_topic)"/>
  42.         <param if="$(arg use_imu)" name="guess_frame_id"   type="string" value="$(arg frame_id)_stabilized"/>
  43.         <param if="$(arg use_imu)" name="wait_imu_to_init" type="bool" value="true"/>
  44.      
  45.         <!-- ICP parameters -->
  46.         <param name="Icp/PointToPlane"        type="string" value="true"/>
  47.         <param name="Icp/Iterations"          type="string" value="30"/>
  48.         <param name="Icp/VoxelSize"           type="string" value="0.2"/>
  49.         <param name="Icp/DownsamplingStep"    type="string" value="1"/>
  50.         <param name="Icp/Epsilon"             type="string" value="0.001"/>
  51.         <param name="Icp/PointToPlaneK"       type="string" value="20"/>
  52.         <param name="Icp/PointToPlaneRadius"  type="string" value="0"/>
  53.         <param name="Icp/MaxTranslation"      type="string" value="2"/>
  54.         <param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
  55.         <param name="Icp/PM"                  type="string" value="true"/>
  56.         <param name="Icp/PMOutlierRatio"      type="string" value="0.7"/>
  57.         <param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>  
  58.  
  59.         <!-- Odom parameters -->      
  60.         <param name="Odom/ScanKeyFrameThr"       type="string" value="0.9"/>
  61.         <param name="Odom/Strategy"              type="string" value="0"/>
  62.         <param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
  63.         <param name="OdomF2M/ScanMaxSize"        type="string" value="15000"/>      
  64.       </node>
  65.  
  66.       <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">   
  67.         <param name="frame_id"             type="string" value="$(arg frame_id)"/>  
  68.         <param name="subscribe_depth"      type="bool" value="false"/>
  69.         <param name="subscribe_rgb"        type="bool" value="false"/>
  70.         <param name="subscribe_scan_cloud" type="bool" value="true"/>
  71.         <param name="approx_sync"          type="bool" value="false"/>
  72.        
  73.         <remap from="scan_cloud" to="/velodyne_cloud_registered"/>
  74.      
  75.         <!-- RTAB-Map's parameters -->
  76.         <param name="Rtabmap/DetectionRate"          type="string" value="1"/>  
  77.         <param name="RGBD/NeighborLinkRefining"      type="string" value="false"/>
  78.         <param name="RGBD/ProximityBySpace"          type="string" value="true"/>
  79.         <param name="RGBD/ProximityMaxGraphDepth"    type="string" value="0"/>
  80.         <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
  81.         <param name="RGBD/AngularUpdate"             type="string" value="0.05"/>
  82.         <param name="RGBD/LinearUpdate"              type="string" value="0.05"/>
  83.         <param name="Mem/NotLinkedNodesKept"         type="string" value="false"/>
  84.         <param name="Mem/STMSize"                    type="string" value="30"/>
  85.         <!-- param name="Mem/LaserScanVoxelSize"     type="string" value="0.1"/ -->
  86.         <!-- param name="Mem/LaserScanNormalK"       type="string" value="10"/ -->
  87.         <!-- param name="Mem/LaserScanRadius"        type="string" value="0"/ -->
  88.        
  89.         <param name="Reg/Strategy"                   type="string" value="1"/>
  90.         <param name="Grid/CellSize"                  type="string" value="0.1"/>
  91.         <param name="Grid/RangeMax"                  type="string" value="20"/>
  92.         <param name="Grid/ClusterRadius"             type="string" value="1"/>
  93.         <param name="Grid/GroundIsObstacle"          type="string" value="true"/>
  94.  
  95.         <!-- ICP parameters -->
  96.         <!-- <param name="Icp/VoxelSize"                  type="string" value="0.2"/>
  97.        <param name="Icp/PointToPlaneK"              type="string" value="20"/>
  98.        <param name="Icp/PointToPlaneRadius"         type="string" value="0"/>
  99.        <param name="Icp/PointToPlane"               type="string" value="true"/>
  100.        <param name="Icp/Iterations"                 type="string" value="1"/>
  101.        <param name="Icp/Epsilon"                    type="string" value="0.001"/>
  102.        <param name="Icp/MaxTranslation"             type="string" value="3"/>
  103.        <param name="Icp/MaxCorrespondenceDistance"  type="string" value="1"/>
  104.        <param name="Icp/PM"                         type="string" value="true"/>
  105.        <param name="Icp/PMOutlierRatio"             type="string" value="0.7"/>
  106.        <param name="Icp/CorrespondenceRatio"        type="string" value="0.4"/> -->
  107.       </node>
  108.  
  109.       <node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
  110.         <param name="frame_id" type="string" value="$(arg frame_id)"/>
  111.         <param name="odom_frame_id" type="string" value="aft_mapped"/>
  112.         <param name="subscribe_odom_info" type="bool" value="true"/>
  113.         <param name="subscribe_scan_cloud" type="bool" value="true"/>
  114.         <param name="approx_sync" type="bool" value="false"/>
  115.         <remap from="scan_cloud" to="/velodyne_cloud_registered"/>
  116.       </node>
  117.  
  118.       <node pkg="nodelet" type="nodelet" name="point_cloud_assembler" args="standalone rtabmap_ros/point_cloud_assembler" output="screen">
  119.         <remap from="cloud"           to="/velodyne_cloud_registered"/>
  120.         <remap from="odom"            to="aft_mapped"/>
  121.         <param     if="$(arg scan_20_hz)" name="max_clouds"      type="int"    value="10" />
  122.         <param unless="$(arg scan_20_hz)" name="max_clouds"      type="int"    value="10" />
  123.         <param name="fixed_frame_id"  type="string" value="" />
  124.       </node>
  125.   </group>
  126.  
  127. </launch>
  128.  
Advertisement
Add Comment
Please, Sign In to add comment
Public Pastes
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!