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- <launch>
- <arg name="use_zed" default="false" doc="Set to false when using Intel Realsense D435"/>
- <arg name="localization" default="false" doc="Localization mode for navigation"/>
- <arg name="database_path" default="rtabmap.db"/>
- <arg name="rviz" default="false"/>
- <arg name="rate" default="1.0"/>
- <arg name="camera_frame" default="camera"/>
- <arg if="$(arg localization)" name="rtabmap_args" default=""/>
- <arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
- <arg if="$(arg localization)" name="rviz_config" default="$(find turtlebot3_slam_3d)/config/navigation.rviz"/>
- <arg unless="$(arg localization)" name="rviz_config" default="$(find turtlebot3_slam_3d)/config/mapping.rviz"/>
- <arg name="input_scan" default="/scan"/>
- <arg name="input_odom" default="/odom"/>
- <arg if="$(arg use_zed)" name="input_image" default="/stereo_camera/left/image_rect_color"/>
- <arg unless="$(arg use_zed)" name="input_image" default="/camera/color/image_rect_color"/>
- <arg if="$(arg use_zed)" name="input_depth" default="/stereo_camera/depth/depth_registered"/>
- <arg unless="$(arg use_zed)" name="input_depth" default="/camera/depth/image_rect_raw"/>
- <arg if="$(arg use_zed)" name="input_camera_info" default="/stereo_camera/left/camera_info"/>
- <arg unless="$(arg use_zed)" name="input_camera_info" default="/camera/color/camera_info"/>
- <!-- RTAB=Map node -->
- <group ns="rtabmap">
- <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
- <remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
- <remap from="depth/image" to="/stereo_camera/depth/depth_registered"/>
- <remap from="rgb/camera_info" to="/stereo_camera/left/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="$(arg rtabmap_args)">
- <param name="database_path" type="string" value="$(arg database_path)"/>
- <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="false"/>
- <!-- Input topics -->
- <remap from="scan" to="$(arg input_scan)"/>
- <remap from="odom" to="$(arg input_odom)"/>
- <remap from="rgb/image" to="$(arg input_image)"/>
- <remap from="depth/image" to="$(arg input_depth)"/>
- <remap from="rgb/camera_info" to="$(arg input_camera_info)"/>
- <remap from="rgbd_image" to="rgbd_image"/>
- <!-- Output topics -->
- <remap from="grid_map" to="/map"/>
- <param name="queue_size" type="int" value="100"/>
- <!-- RTAB-Map's parameters -->
- <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
- <param name="RGBD/ProximityBySpace" type="string" value="true"/>
- <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
- <param name="RGBD/AngularUpdate" type="string" value="0.05"/>
- <param name="RGBD/LinearUpdate" type="string" value="0.05"/>
- <param name="Optimizer/Slam2D" type="string" value="true"/>
- <param name="Reg/Force3DoF" type="string" value="true"/>
- <param name="Reg/Strategy" type="string" value="1"/> <!-- 1=ICP -->
- <param name="Vis/MinInliers" type="string" value="5"/>
- <param name="Vis/InlierDistance" type="string" value="0.1"/>
- <param name="Kp/MaxDepth" type="string" value="1.75"/>
- <param name="Vis/MaxDepth" type="string" value="1.75"/>
- <param name="Rtabmap/TimeThr" type="string" value="700"/>
- <param name="Rtabmap/DetectionRate" type="string" value="$(arg rate)" />
- <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
- <param name="Grid/MaxObstacleHeight" type="string" value="2" />
- <param name="Grid/NoiseFilteringRadius" type="string" value="0.05"/>
- <param name="Grid/NoiseFilteringMinNeighbors" type="string" value="5"/>
- <param name="Grid/FromDepth" type="bool" value="true" />
- <param name="Grid/3D" type="bool" value="false" />
- <param name="Grid/RayTracing" type="bool" value="true" />
- <param name="Grid/NormalsSegmentation" type="string" value="true" />
- <param name="Grid/MaxGroundHeight" type="string" value="0.05" />
- <param name="Icp/VoxelSize" type="string" value="0.05"/>
- <param name="Icp/MaxCorrespondenceDistance" type="string" value="0.1"/>
- <!-- Localization mode -->
- <param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
- <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
- <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
- </node>
- </group>
- <!-- Localization node -->
- <include if="$(arg localization)" file="$(find turtlebot3_navigation)/launch/move_base.launch">
- <arg name="model" value="waffle"/>
- <arg name="odom_topic" value="stereo_camera/odom"/>
- </include>
- <node if="$(arg localization)" pkg="turtlebot3_slam_3d" type="detection_publisher.py"
- name="detection_collector" output="screen"/>
- <!-- RVIZ node -->
- <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_config)" />
- </launch>
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