Re: Questions about the structure of a launch file.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Questions-about-the-structure-of-a-launch-file-tp7719p7867.html

use_sim_time should be a parameter, as an argument like this it does nothing. common_params should be set to rtabmap node, not rtabmapviz.

<launch>
    <arg name="rtabmapviz"    default="true"/>	
    <arg name="frame_id" default="velodyne"/>
    <arg name="scan_cloud_max_points"  default="131072"/>

    <param name="use_sim_time" value="true"/>
	
	<arg name="common_params" value="--RGBD/CreateOccupancyGrid false \
      --Rtabmap/DetectionRate 2 \
      --Odom/ScanKeyFrameThr 0.9 \
      --OdomF2M/ScanMaxSize 25000  \
      --OdomF2M/ScanSubtractRadius 0.5   \
      --Icp/PM true \
      --Icp/VoxelSize 0.5   \
      --Icp/MaxTranslation 5   \
      --Icp/MaxCorrespondenceDistance 1.5 \
      --Icp/PMOutlierRatio 0.8 \
      --Icp/Iterations 10 \
      --Icp/PointToPlane true \
      --Icp/PMMatcherKnn 3 \
      --Icp/PMMatcherEpsilon 0 \
      --Icp/Epsilon 0.0001 \
      --Icp/PointToPlaneK 10 \
      --Icp/PointToPlaneRadius 0 \
      --Icp/CorrespondenceRatio 0.01 \
      --Odom/GuessSmoothingDelay 1"/>
	
	<group ns = "rtabmap">
	
		<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen" args="$(arg common_params)">
			<remap from="scan_cloud" to="/pointcloud2"/>
			<param name="frame_id"        type="string" value="$(arg frame_id)"/>  
			<param name="odom_frame_id"   type="string" value="odom"/>
			<param name="scan_cloud_max_points"       type="int"    value="$(arg scan_cloud_max_points)"/>
		</node>
		
		<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d $(arg common_params)">
		    <param name="frame_id"             type="string" value="$(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 name="scan_cloud_max_points"       type="int"    value="$(arg scan_cloud_max_points)"/>
			<remap from="scan_cloud" to="/pointcloud2"/>
		</node>
		
		<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
		    <param name="frame_id" type="string" value="$(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="/pointcloud2"/>
		</node>
		
	</group>
</launch>