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Update slam_rtabmap.launch #166

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Update slam_rtabmap.launch #166

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3211207
Update slam_rtabmap.launch
matlabbe Dec 15, 2020
9e09b14
Merge branch 'melodic' into patch-2
ooeygui Oct 18, 2022
095d83d
Merge branch 'melodic' into patch-2
matlabbe Oct 18, 2022
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62 changes: 45 additions & 17 deletions launch/slam_rtabmap.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,12 @@ Licensed under the MIT License.

<launch>

<!-- If color_enabled is false, IR camera is used (may work better in dark areas). -->
<!-- When using color camera, to avoid black borders in point clouds
in rtabmapviz, set ROI ratios in Preferences->3D rendering
to "0.05 0.05 0.05 0.05" under Map and Odom columns. -->
<arg name="color_enabled" default="true"/>

<param name="robot_description"
command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect.urdf.xacro" />

Expand All @@ -23,43 +29,65 @@ Licensed under the MIT License.
<node pkg="nodelet" type="nodelet" name="rectify_rgb"
args="load image_proc/rectify manager --no-bond"
respawn="true">
<remap from="image_mono" to="rgb_to_depth/image_raw" />
<remap from="image_rect" to="rgb_to_depth/image_rect" />
<remap from="image_mono" to="rgb/image_raw" />
<remap from="image_rect" to="rgb/image_rect" />
</node>

<!-- Spawn an image_proc/rectify nodelet to rectify the depth image -->
<node pkg="nodelet" type="nodelet" name="rectify_depth"
<node unless="$(arg color_enabled)" pkg="nodelet" type="nodelet" name="rectify_depth"
args="load image_proc/rectify manager --no-bond"
respawn="true">
<param name="interpolation" value="0" />
<remap from="image_mono" to="depth/image_raw" />
<remap from="image_rect" to="depth/image_rect" />
</node>


<!-- Spawn an image_proc/rectify nodelet to rectify the ir image -->
<node unless="$(arg color_enabled)" pkg="nodelet" type="nodelet" name="rectify_ir"
args="load image_proc/rectify manager --no-bond"
respawn="true">
<remap from="image_mono" to="ir/image_raw" />
<remap from="image_rect" to="ir/image_rect" />
</node>

<node pkg="nodelet" type="nodelet" name="k4a_ros_bridge"
args="load Azure_Kinect_ROS_Driver/K4AROSBridgeNodelet manager --no-bond"
respawn="true">
<param name="depth_enabled" value="true" />
<param name="depth_mode" value="NFOV_UNBINNED" />
<param name="color_enabled" value="true" />
<param name="color_resolution" value="1536P" />
<param name="depth_mode" value="WFOV_2X2BINNED" />
<param name="color_enabled" value="$(arg color_enabled)" />
<param name="color_resolution" value="720P" />
<param name="fps" value="30" />
<param name="point_cloud" value="false" />
<param name="rgb_point_cloud" value="false" />
<param name="required" value="true" />
<param name="imu_rate_target" value="100" />

<param name="rescale_ir_to_mono8" value="true" />
</node>

</group>


<!-- compute IMU quaternion -->
<node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_node">
<param name="use_mag" value="false" />
<param name="publish_tf" value="false" />
<param name="world_frame" value="enu" />
<remap from="/imu/data_raw" to="/k4a/imu" />
</node>

<!-- Start rtabmap_ros node -->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch" ns="rtabmap" >
<arg name="rgb_topic" value="/k4a/rgb_to_depth/image_rect" />
<arg name="depth_topic" value="/k4a/depth/image_rect" />
<arg name="camera_info_topic" value="/k4a/depth/camera_info" />
<arg name="approx_sync" value="true" />
<arg name="frame_id" value="camera_base" />
<arg name="args" value="--delete_db_on_start --Odom/ResetCountdown 2" />
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg if="$(arg color_enabled)" name="rgb_topic" value="/k4a/rgb/image_rect" />
<arg if="$(arg color_enabled)" name="depth_topic" value="/k4a/depth_to_rgb/image_raw" />
<arg if="$(arg color_enabled)" name="camera_info_topic" value="/k4a/rgb/camera_info" />
<arg unless="$(arg color_enabled)" name="rgb_topic" value="/k4a/ir/image_rect" />
<arg unless="$(arg color_enabled)" name="depth_topic" value="/k4a/depth/image_rect" />
<arg unless="$(arg color_enabled)" name="camera_info_topic" value="/k4a/ir/camera_info" />
<arg name="approx_sync" value="true" />
<arg name="frame_id" value="camera_base" />
<arg if="$(arg color_enabled)" name="args" value="--delete_db_on_start --GFTT/MinDistance 7 --Vis/CorGuessWinSize 40 --Optimizer/GravitySigma 0.3" />
<arg unless ="$(arg color_enabled)" name="args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3" />
<arg name="wait_imu_to_init" value="true"/>
</include>

</launch>