Posted by
yyz on
Aug 23, 2017; 11:25pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-mapping-tp3680p3685.html
I use only a Kinect.
my launch file
<launch>
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<include file="$(find freenect_launch)/launch/freenect.launch">
<arg name="depth_registration" value="true"/>
</include>
<node pkg="tf" type="static_transform_publisher" name="camera" args="0.25 0 0.12 0 0 0 base_link camera_link 100"/>
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
<remap from="image" to="/camera/depth_registered/image_raw"/>
<remap from="camera_info" to="/camera/depth_registered/camera_info"/>
</node>
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="odom" to="/odom"/>
</node>
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<remap from="odom" to="/odom"/>
<remap from="scan" to="/scan"/>
<remap from="mapData" to="mapData"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="grid_map" to="/rtabmap/grid_map"/>
</node>
</group>
<remap from="map" to="/rtabmap/grid_map"/>
<remap from="scan" to="/scan"/>
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
<remap from="ground_cloud" to="/ground_cloud"/>
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<rosparam file="$(find rtabmap_nav)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_nav)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
<rosparam file="$(find rtabmap_nav)/config/local_costmap_params.yaml" command="load" ns="local_costmap"/>
<rosparam file="$(find rtabmap_nav)/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_nav)/config/base_local_planner_params.yaml" command="load"/>
</node>
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
<remap from="rgb/image_out" to="data_resized_image"/>
<remap from="depth/image_out" to="data_resized_image_depth"/>
<remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
<remap from="depth/image" to="data_resized_image_depth"/>
<remap from="depth/camera_info" to="data_resized_camera_info"/>
<remap from="cloud" to="cloudXYZ"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
</node>
</group>
</launch>
what sensors should I use if I want to loop closures can be found when traveling in different direction the same corridor.