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  1.  
  2. <launch>
  3.    
  4.    <!-- Kinect 2
  5.        Install Kinect2 : Follow ALL directives at https://github.com/code-iai/iai_kinect2
  6.                          Make sure it is calibrated!
  7.        Run:
  8.           $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
  9.           $ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch
  10.   -->
  11.  
  12.    <!-- Which image resolution to process in rtabmap: sd, qhd, hd -->
  13.    <arg name="resolution" default="sd" />
  14.    
  15.    <!-- Fixed frame id, you may set "base_link" or "base_link" if they are published -->
  16.    <arg name="frame_id" default="base_link"/>
  17.   <node pkg="tf" type="static_transform_publisher" name="kinect2_2_base_link" args="0 0 0 0 0 0 base_link kinect2_link 100"/>
  18.   <node pkg="tf" type="static_transform_publisher" name="laser_2_base_link" args="0 0 0 -1.5708 0 3.156 kinect2_link laser 100"/>
  19.   <!--1.5708 rad = 90 deg -->
  20.  
  21.  
  22.    <!-- Choose visualization -->
  23.    <arg name="rviz" default="false" />
  24.    <arg name="rtabmapviz" default="true" />
  25.    
  26.    <!-- Corresponding config files -->
  27.    <arg name="rtabmapviz_cfg"          default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
  28.    <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
  29.  
  30.    <!-- ODOMETRY MAIN ARGUMENTS:
  31.        -"strategy"        : Strategy: Frame-to-Map 1=Frame-To-Frame
  32.        -"feature"         : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
  33.        -"nn"              : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
  34.                             Set to 1 for float descriptor like SIFT/SURF                  
  35.                             Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK  
  36.        -"max_depth"       : Maximum features depth (m)  
  37.        -"min_inliers"     : Minimum visual correspondences to accept a transformation (m)  
  38.        -"inlier_distance" : RANSAC maximum inliers distance (m)  
  39.        -"local_map"       : Local map size: number of unique features to keep track
  40.        -"odom_info_data"  : Fill odometry info messages with inliers/outliers data.
  41.    -->
  42.    <arg name="strategy" default="0" />
  43.    <arg name="feature" default="6" />
  44.    <arg name="nn" default="3" />
  45.    <arg name="max_depth" default="10.0" />
  46.    <arg name="min_inliers" default="20" />
  47.    <arg name="inlier_distance" default="0.02" />
  48.    <arg name="local_map" default="1000" />
  49.    <arg name="gftt_max_corners" default="1000" />
  50.    <arg name="gftt_min_distance" default="7" />
  51.        
  52.   <group ns="rtabmap">
  53.  
  54.     <!-- Odometry -->
  55.     <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
  56.       <remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
  57.       <remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
  58.       <remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
  59.  
  60.       <param name="frame_id" type="string" value="$(arg frame_id)"/>
  61.       <param name="approx_sync" type="bool" value="true"/>
  62.      
  63.       <param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
  64.       <param name="Vis/FeatureType" type="string" value="$(arg feature)"/>  
  65.       <param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
  66.       <param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>  
  67.       <param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
  68.       <param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>      
  69.       <param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
  70.       <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
  71.       <param name="Vis/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
  72.       <param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
  73.     </node>
  74.  
  75.     <!-- Visual SLAM (robot side) -->
  76.     <!-- args: "delete_db_on_start" and "udebug" -->
  77.     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
  78.     <param name="subscribe_depth" type="bool" value="false"/>
  79.       <param name="frame_id" type="string" value="$(arg frame_id)"/>
  80.    
  81.       <remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
  82.       <remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
  83.       <remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
  84.  
  85.       <param name="approx_sync" type="bool" value="true"/>
  86.  
  87.       <param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
  88.       <param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
  89.        <!-- subscribe cloud -->
  90.       <param name="subscribe_scan_cloud" type="bool" value="true"/>
  91.       <remap from="scan_cloud" to="/assembled_cloud2"/>
  92.       <param name="queue_size" type="int" value="20"/>
  93.  
  94.     </node>
  95.  
  96.     <!-- Visualisation RTAB-Map
  97.    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
  98.      <param name="subscribe_depth" type="bool" value="true"/>
  99.      <param name="subscribe_odom_info" type="bool" value="true"/>
  100.      <param name="approx_sync" type="bool" value="true"/>
  101.      <param name="frame_id" type="string" value="$(arg frame_id)"/>
  102.          <param name="Grid/FromDepth" type="string" value="false"/>
  103.      <remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
  104.      <remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
  105.      <remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
  106.      <param name="subscribe_scan_cloud" type="bool" value="true"/>
  107.      <remap from="scan_cloud" to="/assembled_cloud2"/>
  108.    </node>
  109. -->
  110.     <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
  111.       <param name="subscribe_depth" type="bool" value="true"/>
  112.       <param name="subscribe_odom_info" type="bool" value="true"/>
  113.       <param name="approx_sync" type="bool" value="true"/>
  114.       <param name="frame_id" type="string" value="$(arg frame_id)"/>
  115.       <param name="Grid/FromDepth" type="string" value="false"/>
  116.       <remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
  117.       <remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
  118.       <remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
  119.        <!-- subscribe cloud -->
  120.       <param name="subscribe_scan_cloud" type="bool" value="true"/>
  121.       <remap from="scan_cloud" to="/assembled_cloud2"/>
  122.       <param name="queue_size" type="int" value="20"/>
  123.     </node>
  124.  
  125.   </group>
  126.  
  127.   <!-- Visualization RVIZ -->
  128.   <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
  129.   <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
  130.   <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
  131.   <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
  132.     <remap from="rgb/image_in"       to="/kinect2/$(arg resolution)/image_color_rect"/>
  133.     <remap from="depth/image_in"     to="/kinect2/$(arg resolution)/image_depth_rect"/>
  134.     <remap from="rgb/camera_info_in" to="/kinect2/$(arg resolution)/camera_info"/>
  135.  
  136.     <remap from="odom_in"             to="rtabmap/odom"/>
  137.  
  138.     <param name="approx_sync" type="bool" value="true"/>
  139.  
  140.     <remap from="rgb/image_out"       to="data_odom_sync/image"/>
  141.     <remap from="depth/image_out"     to="data_odom_sync/depth"/>
  142.     <remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
  143.     <remap from="odom_out"            to="odom_sync"/>
  144.  
  145.     <!-- subscribe cloud -->
  146.     <param name="subscribe_scan_cloud" type="bool" value="true"/>
  147.     <remap from="scan_cloud" to="/assembled_cloud2"/>
  148.   </node>
  149.   <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
  150.     <remap from="rgb/image"       to="data_odom_sync/image"/>
  151.     <remap from="depth/image"     to="data_odom_sync/depth"/>
  152.     <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
  153.     <remap from="cloud"           to="voxel_cloud" />
  154.  
  155.     <param name="voxel_size" type="double" value="0.01"/>
  156.   </node>
  157.  
  158. </launch>
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