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Remove rtabmap launch files from Stretch Navigation

pull/37/head
Binit Shah 3 years ago
parent
b9f2043823
commit
29890499d3
9 changed files with 0 additions and 280 deletions
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  1. +0
    -61
      stretch_navigation/launch/rtab.launch
  2. +0
    -36
      stretch_navigation/launch/rtab/robot.launch
  3. +0
    -57
      stretch_navigation/launch/rtab/rtab.launch
  4. +0
    -65
      stretch_navigation/launch/rtab_generic.launch
  5. +0
    -51
      stretch_navigation/launch/rtab_robot.launch
  6. +0
    -3
      stretch_navigation/launch/rviz_rtab.launch
  7. +0
    -7
      stretch_navigation/launch/teleop.launch
  8. +0
    -0
      stretch_rtab/launch/rtab_gazebo.launch
  9. +0
    -0
      stretch_rtab/launch/rtabmapviz.launch

+ 0
- 61
stretch_navigation/launch/rtab.launch View File

@ -1,61 +0,0 @@
<launch>
<arg name="database_path" default="rtabmap.db"/>
<arg name="args" default=""/>
<arg name="wait_for_transform" default="0.2"/>
<arg name="move_base_config" value="2d" />
<arg name="pointcloud_topic" default="/camera/depth/color/points"/>
<arg name="cmd_vel_topic" default="/stretch_diff_drive_controller/cmd_vel"/>
<arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
<!-- Navigation stuff (move_base) -->
<include file="$(find stretch_navigation)/launch/navigation/move_base.launch">
<arg name="config" value="$(arg move_base_config)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
<arg name="odom_topic" value="$(arg odom_topic)" />
</include>
<!-- Mapping -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<!-- inputs -->
<remap from="scan" to="/scan"/>
<remap from="rgb/image" to="/camera/color/image_raw"/>
<remap from="depth/image" to="/camera/depth/image_raw"/>
<remap from="rgb/camera_info" to="/camera/color/camera_info"/>
<!-- output -->
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Icp/CoprrespondenceRatio" type="string" value="0.3"/>
<param name="Vis/MinInliers" type="string" value="6"/>
<param name="Vis/InlierDistance" type="string" value="0.1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
</node>
<param if="$(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)"/>
</group>
</launch>

+ 0
- 36
stretch_navigation/launch/rtab/robot.launch View File

@ -1,36 +0,0 @@
<launch>
<!-- REALSENSE D435i -->
<include file="$(find stretch_core)/launch/d435i_high_resolution.launch"></include>
<node name="d435i_configure" pkg="stretch_core" type="d435i_configure" output="screen">
<!--<param name="initial_mode" type="string" value="Default"/>-->
<param name="initial_mode" type="string" value="High Accuracy"/>
</node>
<!-- -->
<!-- FRUSTUM FIELD OF VIEW VISUALIZATION -->
<node name="d435i_frustum_visualizer" pkg="stretch_core" type="d435i_frustum_visualizer" output="screen" />
<!-- -->
<!-- STRETCH DRIVER -->
<param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
<param name="/stretch_driver/mode" type="string" value="navigation" />
<param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
<include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
<!-- -->
<!-- IMU FILTER -->
<!-- <include file="$(find stretch_core)/launch/imu_filter.launch" /> -->
<!-- -->
<!-- LASER RANGE FINDER -->
<include file="$(find stretch_core)/launch/rplidar.launch" />
<!-- -->
<!-- LASER SCAN MATCHER FOR ODOMETRY -->
<include file="$(find stretch_core)/launch/stretch_scan_matcher.launch" />
<!-- -->
<!-- ROBOT LOCALIZATION FILTER -->
<include file="$(find stretch_core)/launch/stretch_ekf.launch" />
<!-- -->
</launch>

+ 0
- 57
stretch_navigation/launch/rtab/rtab.launch View File

@ -1,57 +0,0 @@
<launch>
<arg name="localization"/>
<arg name="args"/>
<arg name="database_path"/>
<arg name="wait_for_transform"/>
<arg name="pointcloud_topic"/>
<arg name="cmd_vel_topic"/>
<arg name="odom_topic"/>
<arg name="scan"/>
<arg name="rgb_topic"/>
<arg name="rgb_camera_info"/>
<!-- Mapping -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="odom_tf_angular_variance" type="double" value="0.005"/>
<param name="odom_tf_linear_variance" type="double" value="0.005"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<!-- inputs -->
<remap from="scan" to="$(arg scan)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg pointcloud_topic)"/>
<remap from="rgb/camera_info" to="$(arg rgb_camera_info)"/>
<!-- output -->
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Icp/CoprrespondenceRatio" type="string" value="0.3"/>
<param name="Vis/MinInliers" type="string" value="6"/>
<param name="Vis/InlierDistance" type="string" value="0.1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Grid/FromDepth" type="string" value="true"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>
</node>
<param if="$(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)"/>
</group>
</launch>

+ 0
- 65
stretch_navigation/launch/rtab_generic.launch View File

@ -1,65 +0,0 @@
<launch>
<arg name="sim" />
<arg name="localization" default="false" />
<arg name="database_path" default="rtabmap.db"/>
<arg name="args" default=""/>
<arg name="wait_for_transform" default="0.2"/>
<arg name="move_base_config" value="2d" />
<group if="$(arg sim)">
<arg name="pointcloud_topic" default="/camera/depth/image_raw"/>
<arg name="cmd_vel_topic" value="/stretch_diff_drive_controller/cmd_vel"/>
<arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
<arg name="scan_topic" default="/scan"/>
<arg name="rgb_topic" default="/camera/color/image_raw"/>
<arg name="rgb_camera_info" default="/camera/color/camera_info"/>
<include file="$(find stretch_navigation)/launch/navigation/move_base.launch">
<arg name="config" value="$(arg move_base_config)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find stretch_navigation)/launch/rtab/rtab.launch">
<arg name="localization" value="$(arg localization)"/>
<arg name="args" value="$(arg args)"/>
<arg name="database_path" default="$(arg database_path)"/>
<arg name="wait_for_transform" default="$(arg wait_for_transform)"/>
<arg name="pointcloud_topic" value="$(arg pointcloud_topic)"/>
<arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
<arg name="odom_topic" default="$(arg odom_topic)"/>
<arg name="scan" default="$(arg scan_topic)"/>
<arg name="rgb_topic" default="$(arg rgb_topic)"/>
<arg name="rgb_camera_info" default="$(arg rgb_camera_info)"/>
</include>
</group>
<group unless="$(arg sim)">
<arg name="pointcloud_topic" value="/camera/aligned_depth_to_color/image_raw"/>
<arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
<arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
<arg name="scan_topic" default="/scan"/>
<arg name="rgb_topic" default="/camera/color/image_raw"/>
<arg name="rgb_camera_info" default="/camera/color/camera_info"/>
<include file="$(find stretch_navigation)/launch/rtab/robot.launch"/>
<include file="$(find stretch_navigation)/launch/navigation/move_base.launch">
<arg name="config" value="$(arg move_base_config)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find stretch_navigation)/launch/rtab/rtab.launch">
<arg name="localization" value="$(arg localization)"/>
<arg name="args" value="$(arg args)"/>
<arg name="database_path" default="$(arg database_path)"/>
<arg name="wait_for_transform" default="$(arg wait_for_transform)"/>
<arg name="pointcloud_topic" value="$(arg pointcloud_topic)"/>
<arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
<arg name="odom_topic" default="$(arg odom_topic)"/>
<arg name="scan" default="$(arg scan_topic)"/>
<arg name="rgb_topic" default="$(arg rgb_topic)"/>
<arg name="rgb_camera_info" default="$(arg rgb_camera_info)"/>
</include>
</group>
</launch>

+ 0
- 51
stretch_navigation/launch/rtab_robot.launch View File

@ -1,51 +0,0 @@
<launch>
<arg name="sim" />
<arg name="localization" default="false" />
<arg name="database_path" default="rtabmap.db"/>
<arg name="args" default=""/>
<arg name="wait_for_transform" default="0.2"/>
<arg name="move_base_config" value="2d" />
<group if="$(arg sim)">
<arg name="pointcloud_topic" default="/camera/depth/color/points"/>
<arg name="cmd_vel_topic" value="/stretch_diff_drive_controller/cmd_vel"/>
<arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
<arg name="scan_topic" default="/scan"/>
<arg name="rgb_topic" default="/camera/color/image_raw"/>
<arg name="rgb_camera_info" default="/camera/color/camera_info"/>
<include file="$(find stretch_navigation)/launch/rtab/move_base.launch">
<arg name="move_base_config" value="$(arg move_base_config)" />
</include>
<include file="$(find stretch_navigation)/launch/rtab/rtab.launch">
<arg name="localization" value="$(arg localization)"/>
</include>
</group>
<group unless="$(arg sim)">
<arg name="pointcloud_topic" value="/camera/aligned_depth_to_color/image_raw"/>
<arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
<arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
<arg name="scan_topic" default="/scan"/>
<arg name="rgb_topic" default="/camera/color/image_raw"/>
<arg name="rgb_camera_info" default="/camera/color/camera_info"/>
<include file="$(find stretch_navigation)/launch/rtab/robot.launch"/>
<include file="$(find stretch_navigation)/launch/rtab/move_base.launch">
<arg name="move_base_config" value="$(arg move_base_config)" />
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
<include file="$(find stretch_navigation)/launch/rtab/rtab.launch">
<arg name="localization" value="$(arg localization)"/>
<arg name="pointcloud_topic" value="/camera/aligned_depth_to_color/image_raw"/>
<arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
<arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
<arg name="scan_topic" default="/scan"/>
<arg name="rgb_topic" default="/camera/color/image_raw"/>
<arg name="rgb_camera_info" default="/camera/color/camera_info"/>
</include>
</group>
</launch>

+ 0
- 3
stretch_navigation/launch/rviz_rtab.launch View File

@ -1,3 +0,0 @@
<launch>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find stretch_navigation)/rviz/rtab_mapping.rviz"/>
</launch>

+ 0
- 7
stretch_navigation/launch/teleop.launch View File

@ -1,7 +0,0 @@
<launch>
<node name="teleop_twist_keyboard" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen" >
<param name="speed" type="double" value="0.04" />
<param name="turn" type="double" value="0.1" />
<remap from="/cmd_vel" to="/stretch/cmd_vel" />
</node>
</launch>

stretch_navigation/launch/rtab_gazebo.launch → stretch_rtab/launch/rtab_gazebo.launch View File


stretch_navigation/launch/rtabmapviz.launch → stretch_rtab/launch/rtabmapviz.launch View File


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