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mapping.launch
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mapping.launch
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Arguments for launch file with defaults provided -->
<arg name="database_path" default="rtabmap.db"/>
<arg name="rgb_topic" default="/camera/rgb/image_raw"/>
<!-- <arg name="depth_topic" default="/camera/depth/image_raw"/> -->
<arg name="camera_info_topic" default="/camera/rgb/camera_info"/>
<arg name="depth_topic" default="/camera/depth/image_raw"/>
<arg name="scan_topic" default="/scan"/>
<!-- Mapping Node -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<!-- Basic RTAB-Map Parameters -->
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="robot_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<!-- RTAB-Map Inputs -->
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<!-- RTAB-Map Output -->
<remap from="grid_map" to="/map"/>
<remap from="cloud_map" to="/cloud_map"/>
<remap from="scan_map" to="/scan_map"/>
<!-- Rate (Hz) at which new nodes are added to map -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<!-- 2D SLAM -->
<param name="Reg/Force3DoF" type="string" value="true"/>
<!-- Loop Closure Detection -->
<!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE → -->
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<!-- Maximum visual words per image (bag-of-words) -->
<param name="Kp/MaxFeatures" type="string" value="400"/>
<!-- Used to extract more or less SURF features -->
<param name="SURF/HessianThreshold" type="string" value="100"/>
<!-- Loop Closure Constraint -->
<!-- 0=Visual, 1=ICP (1 requires scan)-->
<param name="Reg/Strategy" type="string" value="0"/>
<!-- Minimum visual inliers to accept loop closure -->
<param name="Vis/MinInliers" type="string" value="15"/>
<!-- Set to false to avoid saving data when robot is not moving -->
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
</node>
</group>
<!-- visualization with rtabmapviz
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="robot_footprint"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="scan" to="/scan"/>
</node>
-->
</launch>