Re: 3D mapping cloud map for localization and 2D grid map for global costmap
Posted by
Princemjp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/3D-mapping-cloud-map-for-localization-and-2D-grid-map-for-global-costmap-tp7363p7365.html
this is my launch file
<launch>
<!--
Hand-held 3D lidar mapping example using only a Velodyne PUCK (no camera).
Prerequisities: rtabmap should be built with libpointmatcher
Example:
$ roslaunch rtabmap_ros test_velodyne.launch
$ rosrun rviz rviz -f map
$ Show TF and /rtabmap/cloud_map topics
-->
<arg name="rtabmapviz" default="false"/>
<arg name="rviz" default="true"/>
<arg name="localization" default="false"/>
<arg name="use_imu" default="false"/> <!-- Assuming IMU fixed to lidar with /velodyne -> /imu_link TF -->
<arg name="imu_topic" default="/imu/data"/>
<arg name="scan_20_hz" default="false"/> <!-- If we launch the velodyne with "rpm:=1200" argument -->
<arg name="use_sim_time" default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
<arg name="frame_id" default="velodyne"/>
<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
<arg if="$(arg scan_20_hz)" name="rpm" value="1200"/>
<arg unless="$(arg scan_20_hz)" name="rpm" value="600"/>
</include>
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0 0.0 0.0 0.0 base_footprint /base_link 10" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_velodyne" args="0 0 1.8 0.0 0.0 0.0 /base_link velodyne 10" />
<!-- IMU orientation estimation and publish tf accordingly to os1_sensor frame -->
<node if="$(arg use_imu)" pkg="rtabmap_ros" type="imu_to_tf" name="imu_to_tf">
<remap from="imu/data" to="$(arg imu_topic)"/>
<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
<param name="base_frame_id" value="$(arg frame_id)"/>
</node>
<group ns="rtabmap">
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer" output="screen">
<param name="slam_2d" type="bool" value="true"/>
</node>
<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
<remap from="scan_cloud" to="/velodyne_points"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
<remap if="$(arg use_imu)" from="imu" to="$(arg imu_topic)"/>
<param if="$(arg use_imu)" name="guess_frame_id" type="string" value="$(arg frame_id)_stabilized"/>
<param if="$(arg use_imu)" name="wait_imu_to_init" type="bool" value="true"/>
<!-- ICP parameters -->
<param name="publish_tf" type="bool" value="true"/>
<param name="tf_delay" type="double" value="0.02"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/MaxTranslation" type="string" value="2"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
<param name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
</node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
<param name="use_action_for_goal" type="bool" value="true"/>
<remap from="move_base" to="/move_base"/>
<param name="tf_delay" type="double" value="0.02"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<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)"/>
<remap from="scan_cloud" to="assembled_cloud"/>
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.05"/>
<param name="RGBD/LinearUpdate" type="string" value="0.05"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Mem/STMSize" type="string" value="30"/>
<!-- param name="Mem/LaserScanVoxelSize" type="string" value="0.1"/ -->
<!-- param name="Mem/LaserScanNormalK" type="string" value="10"/ -->
<!-- param name="Mem/LaserScanRadius" type="string" value="0"/ -->
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Grid/FromDepth" type="string" value="false"/>
<param name="Grid/MaxObstacleHeight" type="string" value="0.6"/>
<param name="Grid/MaxGroundHeight" type="string" value="0.0"/>
<param name="Grid/NormalsSegmentation" type="string" value="false"/>
<param name="Grid/CellSize" type="string" value="0.1"/>
<param name="Grid/RangeMax" type="string" value="50"/>
<param name="Grid/ClusterRadius" type="string" value="1"/>
<param name="Grid/GroundIsObstacle" type="string" value="false"/>
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.2"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/MaxTranslation" type="string" value="3"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.4"/>
</node>
<node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<remap from="scan_cloud" to="/velodyne_points"/>
</node>
<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz" output="screen">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<remap from="scan_cloud" to="/velodyne_points"/>
</node>
<node pkg="nodelet" type="nodelet" name="point_cloud_assembler" args="standalone rtabmap_ros/point_cloud_assembler" output="screen">
<remap from="cloud" to="/velodyne_points"/>
<remap from="odom" to="odom"/>
<param if="$(arg scan_20_hz)" name="max_clouds" type="int" value="20" />
<param unless="$(arg scan_20_hz)" name="max_clouds" type="int" value="10" />
<param name="fixed_frame_id" type="string" value="" />
</node>
</group>
</launch>