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Dec 23rd, 2016
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  1.  
  2. <launch>
  3. <!-- Backward compatibility launch file, use rtabmap.launch instead -->
  4.  
  5. <!-- Your RGB-D sensor should be already started with "depth_registration:=true".
  6. Examples:
  7. $ roslaunch freenect_launch freenect.launch depth_registration:=true
  8. $ roslaunch openni2_launch openni2.launch depth_registration:=true -->
  9.  
  10. <!-- Choose visualization -->
  11. <arg name="rviz" default="false" />
  12. <arg name="rtabmapviz" default="true" />
  13.  
  14. <!-- Localization-only mode -->
  15. <arg name="localization" default="false"/>
  16.  
  17. <!-- Corresponding config files -->
  18. <arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
  19. <arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
  20.  
  21. <arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
  22. <arg name="database_path" default="~/.ros/rtabmap.db"/>
  23. <arg name="rtabmap_args" default="--delete_db_on_start --Reg/Force3DoF true --Rtabmap/DetectionRate 2.0 --Optimizer/Slam2D true --Vis/MinInliers 5 --cloud_noise_filtering_radius 0.05 --cloud_noise_filtering_min_neighbors 2 --Reg/Strategy 1 --RGBD/NeighborLinkRefining true"/> <!-- delete_db_on_start, udebug -->
  24. <arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
  25. <arg name="approx_sync" default="true"/> <!-- if timestamps of the input topics are not synchronized -->
  26.  
  27. <arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
  28. <arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" />
  29. <arg name="camera_info_topic" default="/camera/rgb/camera_info" />
  30. <arg name="compressed" default="false"/>
  31.  
  32. <arg name="subscribe_scan" default="true"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
  33. <arg name="scan_topic" default="/base_scan"/>
  34.  
  35. <arg name="subscribe_scan_cloud" default="false"/> <!-- Assuming 3D scan if set -->
  36. <arg name="scan_cloud_topic" default="/scan_cloud"/>
  37.  
  38. <arg name="visual_odometry" default="false"/> <!-- Generate visual odometry -->
  39. <arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
  40.  
  41. <arg name="namespace" default="rtabmap"/>
  42. <arg name="wait_for_transform" default="0.2"/>
  43.  
  44. <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
  45. <arg name="rtabmapviz" value="$(arg rtabmapviz)" />
  46. <arg name="rviz" value="$(arg rviz)" />
  47. <arg name="localization" value="$(arg localization)"/>
  48. <arg name="gui_cfg" value="$(arg rtabmapviz_cfg)" />
  49. <arg name="rviz_cfg" value="$(arg rviz_cfg)" />
  50.  
  51. <arg name="frame_id" value="$(arg frame_id)"/>
  52. <arg name="namespace" value="$(arg namespace)"/>
  53. <arg name="database_path" value="$(arg database_path)"/>
  54. <arg name="wait_for_transform" value="$(arg wait_for_transform)"/>
  55. <arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
  56. <arg name="launch_prefix" value="$(arg launch_prefix)"/>
  57. <arg name="approx_sync" value="$(arg approx_sync)"/>
  58.  
  59. <arg name="rgb_topic" value="$(arg rgb_topic)" />
  60. <arg name="depth_topic" value="$(arg depth_registered_topic)" />
  61. <arg name="camera_info_topic" value="$(arg camera_info_topic)" />
  62. <arg name="compressed" value="$(arg compressed)"/>
  63.  
  64. <arg name="subscribe_scan" value="$(arg subscribe_scan)"/>
  65. <arg name="scan_topic" value="$(arg scan_topic)"/>
  66.  
  67. <arg name="subscribe_scan_cloud" value="$(arg subscribe_scan_cloud)"/>
  68. <arg name="scan_cloud_topic" value="$(arg scan_cloud_topic)"/>
  69.  
  70. <arg name="visual_odometry" value="$(arg visual_odometry)"/>
  71. <arg name="odom_topic" value="$(arg odom_topic)"/>
  72. <arg name="odom_args" value="$(arg rtabmap_args)"/>
  73. </include>
  74.  
  75. </launch>
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