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