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[Tempolary] Added jaxon_multisense_rtabmap.launch. #194

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[Tempolary] Added jaxon_multisense_rtabmap.launch. #194

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83 changes: 83 additions & 0 deletions hrpsys_choreonoid_tutorials/launch/jaxon_multisense_rtabmap.launch
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<launch>

<!-- Choose visualization -->
<!-- <arg name="rviz" default="true" /> -->

<!-- <param name="use_sim_time" type="bool" value="True"/> -->

<!-- Just to uncompress images for stereo_image_rect -->
<!-- <node name="republish_left" type="republish" pkg="image_transport" -->
<!-- args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" /> -->
<!-- <node name="republish_right" type="republish" pkg="image_transport" -->
<!-- args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" /> -->

<!-- Run the ROS package stereo_image_proc for image rectification -->
<!-- <group ns="/stereo_camera" > -->
<!-- <node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/> -->
<!-- <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"> -->
<!-- <remap from="left/image_raw" to="left/image_raw_throttle_relay"/> -->
<!-- <remap from="left/camera_info" to="left/camera_info_throttle"/> -->
<!-- <remap from="right/image_raw" to="right/image_raw_throttle_relay"/> -->
<!-- <remap from="right/camera_info" to="right/camera_info_throttle"/> -->
<!-- <param name="disparity_range" value="128"/> -->
<!-- </node> -->
<!-- </group> -->

<group ns="rtabmap">
<!-- Stereo Odometry -->
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="/multisense_local/left/image_rect"/>
<remap from="right/image_rect" to="/multisense_local/right/image_rect"/>
<remap from="left/camera_info" to="/multisense_local/left/camera_info"/>
<remap from="right/camera_info" to="/multisense_local/right/camera_info"/>
<remap from="odom" to="/stereo_odometry"/>

<param name="frame_id" type="string" value="BODY"/>
<param name="odom_frame_id" type="string" value="odom_init"/> <!-- broadcasted by /footcoords -->
<param name="publish_tf" type="bool" value="true"/>
<!-- <param name="initial_pose" type="string" value="x y z roll pitch yaw"/> -->
<!-- <param name="queue_size" type="int" value="10"/> -->

<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame=to=Frame -->
<param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
<param name="Vis/MaxDepth" type="string" value="10"/>
<param name="Vis/MinInliers" type="string" value="10"/>
<param name="Odom/FillInfoData" type="string" value="false"/>
<param name="GFTT/MinDistance" type="string" value="10"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
</node>

<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="BODY"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="odom_frame_id" type="string" value="odom_init"/>
<param name="publish_tf" type="bool" value="true"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>

<remap from="left/image_rect" to="/multisense_local/left/image_rect"/>
<remap from="right/image_rect" to="/multisense_local/right/image_rect"/>
<remap from="left/camera_info" to="/multisense_local/left/camera_info"/>
<remap from="right/camera_info" to="/multisense_local/right/camera_info"/>

<remap from="odom" to="/stereo_odometry"/>
<param name="queue_size" type="int" value="30"/>

<!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Kp/MaxFeatures" type="string" value="200"/>
<param name="Kp/MaxDepth" type="string" value="10"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
<param name="RGBD/LoopClosureReextractFeatures" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="10"/>
</node>

</group>

<!-- Visualisation RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_stereo_outdoor.rviz"/>

</launch>