diff --git a/orbslam2_demo/CMakeLists.txt b/orbslam2_demo/CMakeLists.txt new file mode 100644 index 0000000..1280fe8 --- /dev/null +++ b/orbslam2_demo/CMakeLists.txt @@ -0,0 +1,199 @@ +cmake_minimum_required(VERSION 2.8.3) +project(orbslam2_demo) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES orbslam2_demo +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/orbslam2_demo.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/orbslam2_demo_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_orbslam2_demo.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/orbslam2_demo/README.md b/orbslam2_demo/README.md new file mode 100644 index 0000000..a77eac5 --- /dev/null +++ b/orbslam2_demo/README.md @@ -0,0 +1,8 @@ +# 运行ORB_SLAM2 +1. 首先应该安装openCV,注意测试版本,V2.4到V3.2.openCV的安装有些繁琐,需要安装各种依赖,否则会出现问题.建议按照参考教程完成安装并测试. +2. 安装Pangolin,需要进行初始化编译. +3. 下载orb_slam2源码包,官网github上源码包含了DBoW2,和g2o.另需要下载Eigen3.1 +4. 对orb_slam2进行编译构建. +5. 输入命令进行仿真环境下的构图，首先启动robot_sim_demo,再启动orbslam2_demo,最后启动键盘控制． + +**Tips:**　具体步骤参考－＞运行包详细步骤.md \ No newline at end of file diff --git a/orbslam2_demo/launch/ros_orbslam2.launch b/orbslam2_demo/launch/ros_orbslam2.launch new file mode 100644 index 0000000..5643c75 --- /dev/null +++ b/orbslam2_demo/launch/ros_orbslam2.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/orbslam2_demo/launch/ros_orbslam2.launch~ b/orbslam2_demo/launch/ros_orbslam2.launch~ new file mode 100644 index 0000000..fba51c2 --- /dev/null +++ b/orbslam2_demo/launch/ros_orbslam2.launch~ @@ -0,0 +1,6 @@ + + + + + + diff --git a/orbslam2_demo/package.xml b/orbslam2_demo/package.xml new file mode 100644 index 0000000..7103dca --- /dev/null +++ b/orbslam2_demo/package.xml @@ -0,0 +1,68 @@ + + + orbslam2_demo + 0.0.0 + The orbslam2_demo package + + + + + acx + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/orbslam2_demo/param/Zdzn.yaml b/orbslam2_demo/param/Zdzn.yaml new file mode 100644 index 0000000..d03c078 --- /dev/null +++ b/orbslam2_demo/param/Zdzn.yaml @@ -0,0 +1,69 @@ +%YAML:1.0 + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- + +# Camera calibration and distortion parameters (OpenCV) +Camera.fx: 277.19135641132203 +Camera.fy: 277.19135641132203 +Camera.cx: 160.5 +Camera.cy: 120.5 + +Camera.k1: 0.0 +Camera.k2: 0.0 +Camera.p1: 0.0 +Camera.p2: 0.0 + +Camera.width: 320 +Camera.height: 240 + +# Camera frames per second +Camera.fps: 50.0 + +# IR projector baseline times fx (aprox.) +Camera.bf: 40.0 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 1 + +# Close/Far threshold. Baseline times. +ThDepth: 40.0 + +# Deptmap values factor +DepthMapFactor: 1.0 + +#-------------------------------------------------------------------------------------------- +# ORB Parameters +#-------------------------------------------------------------------------------------------- + +# ORB Extractor: Number of features per image +ORBextractor.nFeatures: 1000 + +# ORB Extractor: Scale factor between levels in the scale pyramid +ORBextractor.scaleFactor: 1.2 + +# ORB Extractor: Number of levels in the scale pyramid +ORBextractor.nLevels: 8 + +# ORB Extractor: Fast threshold +# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. +# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST +# You can lower these values if your images have low contrast +ORBextractor.iniThFAST: 20 +ORBextractor.minThFAST: 7 + +#-------------------------------------------------------------------------------------------- +# Viewer Parameters +#-------------------------------------------------------------------------------------------- +Viewer.KeyFrameSize: 0.05 +Viewer.KeyFrameLineWidth: 1 +Viewer.GraphLineWidth: 0.9 +Viewer.PointSize:2 +Viewer.CameraSize: 0.08 +Viewer.CameraLineWidth: 3 +Viewer.ViewpointX: 0 +Viewer.ViewpointY: -0.7 +Viewer.ViewpointZ: -1.8 +Viewer.ViewpointF: 500 + diff --git "a/orbslam2_demo/\350\277\220\350\241\214\345\214\205\350\257\246\347\273\206\346\255\245\351\252\244.md" "b/orbslam2_demo/\350\277\220\350\241\214\345\214\205\350\257\246\347\273\206\346\255\245\351\252\244.md" new file mode 100644 index 0000000..4df1e06 --- /dev/null +++ "b/orbslam2_demo/\350\277\220\350\241\214\345\214\205\350\257\246\347\273\206\346\255\245\351\252\244.md" @@ -0,0 +1,93 @@ +# orb_slam2在本课程仿真环境中运行 +### 详细步骤 +1. 建立ＲＯＳ工作空间（前几节课已经建好的catkin_ws/可直接使用跳过此步骤）代码如下： + + mkdir -p ~/catkin_ws/src + cd ~/catkin_ws/ + catkin_make + source devel/setup.bash + echo "source devel/setup.bash" >> ~/.bashrc + source ~/.bashrc + + source /opt/ros/kinetic/setup.bash + source ~/catkin_ws/devel/setup.bash + +2. 安装opencv 3.2（不必安装在ＲＯＳ空间)， + + * 下载两个安装包 + + [(http://opencv.org/releases.html)]( http://opencv.org/releases.html) + [(opencv/releases/tag/3.2.0 +ippicv_linux_20151201.tgz 地址)](https://raw.githubusercontent.com/opencv/opencv_3rdparty/81a676001ca8075ada498583e4166079e5744668/ippicv/ippicv_linux_20151201.tgz) + * 安装依赖库 + + $ sudo apt-get install gcc g++ cmake pkg-config build-essential + + $ sudo apt-get install libgtk2.0-dev libavcodec-dev libavformat-dev libtiff4-dev libswscale-dev libjasper-dev + + * 编译安装过程 + + $ unzip opencv-3.2.0.zip + + $ cd opencv-3.2.0 + + $ mkdir build + + $ cd build + + $ make + + $ sudo make install + * 配置pkg-config + + $ sudo vim /etc/ld.so.conf + + $ sudo ldconfig -v + + $ export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig + + 使用以下命令查看pkg-config配置信息： pkg-config opencv --libs --cflags + * 测试openCV,采用openCV自带的sample + + $ cd opencv-3.2.0/samples/ + + $ cmake . + + $ make + + $ cd cpp/ + + $ ./cpp-example-example + +3. 安装Pangolin + git clone https://github.com/stevenlovegrove/Pangolin.git + cd Pangolin + mkdir build + cd build + cmake -DCPP11_NO_BOOST=1 .. + make -j + +4. 下载orb_salm2的源码包 + + 在ＲＯＳ的工作空间下　`catkin_ws/src/` 　输入命令： +`git clone https://github.com/raulmur/ORB_SLAM2.git` + +5. 构建orb_slam2 + + cd ORB_SLAM2 + chmod +x build.sh + ./build.sh + chmod +x build_ros.sh + ./build_ros.sh + + cd + gedit .bashrc + 在末尾加上：export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/【本机】/catkin_ws/src/ORB_SLAM2/Examples/ROS +6. 执行语句开始进行仿真建图 + + + 　 终端1：roslaunch robot_sim_demo robot_spawn.launch + 　终端2：roslaunch orbslam2_demo ros_orbslam2.launch + 　 终端3：rosrun robot_sim_demo robot_keyboard_teleop.py + + diff --git a/rtabmap_demo/CMakeLists.txt b/rtabmap_demo/CMakeLists.txt new file mode 100644 index 0000000..ba3bfba --- /dev/null +++ b/rtabmap_demo/CMakeLists.txt @@ -0,0 +1,199 @@ +cmake_minimum_required(VERSION 2.8.3) +project(rtabmap_demo) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES rtabmap_demo +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/rtabmap_demo.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/rtabmap_demo_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_rtabmap_demo.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/rtabmap_demo/README.md b/rtabmap_demo/README.md new file mode 100644 index 0000000..1e74836 --- /dev/null +++ b/rtabmap_demo/README.md @@ -0,0 +1,10 @@ +# rtabmap 在仿真环境下的运行 + +### 操作步骤 +1. 根据自己的ROS版本,安装对应的rtabmap-ros +2. 从源构建,添加依赖(包括可选的OpenCV,g2o,GTSAM,Freenect2) +3. 安装RTAM-Map(注意不要直接克隆在catkin 工作空间下) +4. 更新版本 +5. 输入指令,运行环境,开始建图. + +##### 详细操作请参考:rtabmap 在仿真环境下的运行操作指南 \ No newline at end of file diff --git a/rtabmap_demo/launch/config/appearance_gui.ini b/rtabmap_demo/launch/config/appearance_gui.ini new file mode 100644 index 0000000..9e37933 --- /dev/null +++ b/rtabmap_demo/launch/config/appearance_gui.ini @@ -0,0 +1,166 @@ +[Gui] +General\imagesKept=true +General\loggerLevel=2 +General\loggerEventLevel=3 +General\loggerPauseLevel=4 +General\loggerType=1 +General\loggerPrintTime=true +General\verticalLayoutUsed=false +General\imageRejectedShown=true +General\imageHighestHypShown=true +General\beep=false 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+widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xbf\xf0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0) +widget_cloudViewer\camera_focal=@Variant(\0\0\0T\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0) +widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0?\xf0\0\0\0\0\0\0) +widget_cloudViewer\grid=false +widget_cloudViewer\grid_cell_count=50 +widget_cloudViewer\grid_cell_size=1 +widget_cloudViewer\trajectory_shown=true +widget_cloudViewer\trajectory_size=100 +widget_cloudViewer\camera_target_locked=false +widget_cloudViewer\camera_target_follow=true +widget_cloudViewer\camera_free=false +widget_cloudViewer\camera_lockZ=true +widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) +imageView_source\image_shown=true +imageView_source\depth_shown=false +imageView_source\features_shown=true +imageView_source\lines_shown=true +imageView_source\alpha=50 +imageView_source\graphics_view=false +imageView_source\graphics_view_scale=true +imageView_loopClosure\image_shown=true +imageView_loopClosure\depth_shown=false +imageView_loopClosure\features_shown=true +imageView_loopClosure\lines_shown=true +imageView_loopClosure\alpha=50 +imageView_loopClosure\graphics_view=false +imageView_loopClosure\graphics_view_scale=true +imageView_odometry\image_shown=true +imageView_odometry\depth_shown=false +imageView_odometry\features_shown=true +imageView_odometry\lines_shown=true +imageView_odometry\alpha=200 +imageView_odometry\graphics_view=false +imageView_odometry\graphics_view_scale=true +ExportCloudsDialog\binary=true +ExportCloudsDialog\normals_k=6 +ExportCloudsDialog\regenerate=false +ExportCloudsDialog\regenerate_decimation=1 +ExportCloudsDialog\regenerate_max_depth=4 +ExportCloudsDialog\filtering=false +ExportCloudsDialog\filtering_radius=0.02 +ExportCloudsDialog\filtering_min_neighbors=2 +ExportCloudsDialog\assemble=true +ExportCloudsDialog\assemble_voxel=0.01 +ExportCloudsDialog\subtract=false +ExportCloudsDialog\subtract_point_radius=0.02 +ExportCloudsDialog\subtract_point_angle=45 +ExportCloudsDialog\subtract_min_neighbors=5 +ExportCloudsDialog\mls=false +ExportCloudsDialog\mls_radius=0.04 +ExportCloudsDialog\mls_polygonial_order=2 +ExportCloudsDialog\mls_upsampling_method=0 +ExportCloudsDialog\mls_upsampling_radius=0.01 +ExportCloudsDialog\mls_upsampling_step=0 +ExportCloudsDialog\mls_point_density=0 +ExportCloudsDialog\mls_dilation_voxel_size=0.01 +ExportCloudsDialog\mls_dilation_iterations=0 +ExportCloudsDialog\mesh=false +ExportCloudsDialog\mesh_radius=0.04 +ExportCloudsDialog\mesh_mu=2.5 +ExportCloudsDialog\mesh_decimation_factor=0 +ExportCloudsDialog\mesh_texture=false +ExportCloudsDialog\mesh_angle_tolerance=15 +ExportCloudsDialog\mesh_quad=false +ExportCloudsDialog\mesh_triangle_size=2 +PostProcessingDialog\detect_more_lc=true +PostProcessingDialog\cluster_radius=0.5 +PostProcessingDialog\cluster_angle=30 +PostProcessingDialog\iterations=1 +PostProcessingDialog\reextract_features=false +PostProcessingDialog\refine_neigbors=false +PostProcessingDialog\refine_lc=false +PostProcessingDialog\sba=false +PostProcessingDialog\sba_iterations=20 +PostProcessingDialog\sba_epsilon=0.0001 +PostProcessingDialog\sba_inlier_distance=0.05 +PostProcessingDialog\sba_min_inliers=10 +graphicsView_graphView\node_radius=0.00999999977648258 +graphicsView_graphView\link_width=0 +graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0) +graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0) +graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0) +graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) +graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) +graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) +graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) +graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0) +graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) +graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) +graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0) +graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0) +graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) +graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0) +graphicsView_graphView\intra_inter_session_colors_enabled=false +graphicsView_graphView\grid_visible=true +graphicsView_graphView\origin_visible=true +graphicsView_graphView\referential_visible=true +graphicsView_graphView\local_radius_visible=false +graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0) +graphicsView_graphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n) +General\loggerPrintThreadId=false +General\notifyNewGlobalPath=false +General\odomQualityThr=50 +General\posteriorGraphView=true +General\showFeatures0=false +General\downsamplingScan0=1 +General\voxelSizeScan0=0 +General\ptSizeFeatures0=3 +General\showFeatures1=true +General\downsamplingScan1=1 +General\voxelSizeScan1=0 +General\ptSizeFeatures1=3 +General\showGraphs=true +General\showLabels=false +General\noFiltering=true +General\subtractFiltering=false +General\subtractFilteringMinPts=5 +General\subtractFilteringRadius=0.02 +General\subtractFilteringAngle=45 +General\gridMapShown=false +General\gridMapResolution=0.05 +General\gridMapOccupancyFrom3DCloud=false +General\gridMapEroded=false +General\gridMapOpacity=0.75 +General\meshing=false +General\meshing_angle=15 +General\meshing_quad=false +General\meshing_triangle_size=2 +Figures\counts=1 +Figures\curves=Loop/Highest_hypothesis_value/ diff --git a/rtabmap_demo/launch/config/demo_find_object.rviz b/rtabmap_demo/launch/config/demo_find_object.rviz new file mode 100644 index 0000000..5f6435f --- /dev/null +++ b/rtabmap_demo/launch/config/demo_find_object.rviz @@ -0,0 +1,332 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + Splitter Ratio: 0.434783 + Tree Height: 590 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + - /Current View1/Focal Point1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: map + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.02684 + Min Value: -1.12646 + Value: true + Axis: Z + Channel Name: rgb + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 2.34177e-38 + Min Color: 0; 0; 0 + Min Intensity: 9.21942e-41 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Points + Topic: /voxel_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base_footprint: + Value: true + base_laser_link: + Value: true + base_link: + Value: true + camera_depth_frame: + Value: true + camera_depth_optical_frame: + Value: true + camera_link: + Value: true + camera_rgb_frame: + Value: true + camera_rgb_optical_frame: + Value: true + map: + Value: true + object_4: + Value: true + object_5: + Value: true + object_6: + Value: true + object_7: + Value: true + object_8: + Value: true + odom: + Value: true + wheelLB_linkWheel_link: + Value: true + wheelLB_wheel_link: + Value: true + wheelLF_linkWheel_link: + Value: true + wheelLF_wheel_link: + Value: true + wheelRB_linkWheel_link: + Value: true + wheelRB_wheel_link: + Value: true + wheelRF_linkWheel_link: + Value: true + wheelRF_wheel_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_footprint: + base_link: + base_laser_link: + {} + camera_link: + camera_depth_frame: + camera_depth_optical_frame: + {} + camera_rgb_frame: + camera_rgb_optical_frame: + object_4: + {} + object_5: + {} + object_6: + {} + object_7: + {} + object_8: + {} + wheelLB_linkWheel_link: + wheelLB_wheel_link: + {} + wheelLF_linkWheel_link: + wheelLF_wheel_link: + {} + wheelRB_linkWheel_link: + wheelRB_wheel_link: + {} + wheelRF_linkWheel_link: + wheelRF_wheel_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: -0.574923 + Min Value: -5.11672 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.01 + Style: Points + Topic: /base_scan + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /rtabmap/grid_map + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/data_throttled_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rtabmap_ros/MapCloud + Cloud decimation: 4 + Cloud max depth (m): 3 + Cloud voxel size (m): 0.02 + Color: 255; 255; 255 + Color Transformer: RGB8 + Download graph: false + Download map: false + Enabled: true + Filter floor (m): 0 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: MapCloud + Node filtering angle (degrees): 20 + Node filtering radius (m): 0.2 + Position Transformer: XYZ + Size (Pixels): 3 + Size (m): 0.01 + Style: Points + Topic: /rtabmap/mapData + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rtabmap_ros/Info + Enabled: true + Name: Info + Topic: /rtabmap/info + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rtabmap_ros/OrbitOriented + Distance: 7.89956 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.0199225 + Y: 0.23516 + Z: -0.0896359 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.819797 + Target Frame: base_link + Value: OrbitOriented (rtabmap) + Yaw: 3.14375 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 763 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1561 + X: 42 + Y: 107 diff --git a/rtabmap_demo/launch/config/demo_stereo_outdoor.rviz b/rtabmap_demo/launch/config/demo_stereo_outdoor.rviz new file mode 100644 index 0000000..a827b44 --- /dev/null +++ b/rtabmap_demo/launch/config/demo_stereo_outdoor.rviz @@ -0,0 +1,318 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 420 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + az3_base_link: + Value: true + az3_odom: + Value: true + base_footprint: + Value: true + base_laser_link: + Value: true + base_link: + Value: true + map: + Value: true + odom: + Value: true + stereo_camera: + Value: true + stereo_camera_base: + Value: true + wheelLB_linkWheel_link: + Value: true + wheelLB_wheel_link: + Value: true + wheelLF_linkWheel_link: + Value: true + wheelLF_wheel_link: + Value: true + wheelRB_linkWheel_link: + Value: true + wheelRB_wheel_link: + Value: true + wheelRF_linkWheel_link: + Value: true + wheelRF_wheel_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_footprint: + base_link: + base_laser_link: + {} + stereo_camera_base: + stereo_camera: + {} + wheelLB_linkWheel_link: + wheelLB_wheel_link: + {} + wheelLF_linkWheel_link: + wheelLF_wheel_link: + {} + wheelRB_linkWheel_link: + wheelRB_wheel_link: + {} + wheelRF_linkWheel_link: + wheelRF_wheel_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rtabmap_ros/MapCloud + Cloud decimation: 4 + Cloud max depth (m): 4 + Cloud min depth (m): 0 + Cloud voxel size (m): 0 + Color: 255; 255; 255 + Color Transformer: RGB8 + Download graph: false + Download map: false + Enabled: true + Filter ceiling (m): 0 + Filter floor (m): 0 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: MapCloud + Node filtering angle (degrees): 30 + Node filtering radius (m): 0 + Position Transformer: XYZ + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /rtabmap/mapData + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rtabmap_ros/MapGraph + Enabled: true + Global loop closure: 255; 0; 0 + Local loop closure: 255; 255; 0 + Merged neighbor: 255; 170; 0 + Name: MapGraph + Neighbor: 0; 0; 255 + Topic: /rtabmap/mapGraph + Unreliable: false + User: 255; 0; 0 + Value: true + Virtual: 255; 0; 255 + - Class: rviz/Image + Enabled: true + Image Topic: /stereo_camera/left/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /rtabmap/grid_map + Unreliable: false + Value: true + - Class: rtabmap_ros/Info + Enabled: true + Name: Info + Topic: /rtabmap/info + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.17744994 + Min Value: -1.72299004 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: OdomMap + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /rtabmap/odom_local_map + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: OdomFrame + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /rtabmap/odom_last_frame + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rtabmap_ros/OrbitOriented + Distance: 8.28384018 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.109544002 + Y: 0.145557001 + Z: 0.113348998 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.635397971 + Target Frame: base_footprint + Value: OrbitOriented (rtabmap) + Yaw: 3.0704 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 848 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1341 + X: 97 + Y: 24 diff --git a/rtabmap_demo/launch/config/find_object.ini b/rtabmap_demo/launch/config/find_object.ini new file mode 100644 index 0000000..1c25157 --- /dev/null +++ b/rtabmap_demo/launch/config/find_object.ini @@ -0,0 +1,136 @@ +[General] +windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\x2\0\0\x2\xeb\0\0\x2\x9f\0\0\x4\x32\0\0\x1\n\0\0\x3\a\0\0\x2\x97\0\0\x4*\0\0\0\0\0\0) +windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\x8a\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\x9c\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\b\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x8e\0\0\x1\xe\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0) + +[Camera] +1deviceId=0 +2imageWidth=640 +3imageHeight=480 +4imageRate=0 +5mediaPath= +6useTcpCamera=false +7IP=127.0.0.1 +8port=5000 +9queueSize=1 + +[Feature2D] +1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK" +2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK" +3MaxFeatures=0 +BRISK_octaves=3 +BRISK_patternScale=1 +BRISK_thresh=30 +Brief_bytes=32 +Dense_featureScaleLevels=1 +Dense_featureScaleMul=0.1 +Dense_initFeatureScale=1 +Dense_initImgBound=0 +Dense_initXyStep=6 +Dense_varyImgBoundWithScale=false +Dense_varyXyStepWithScale=true +FREAK_nOctaves=4 +FREAK_orientationNormalized=true +FREAK_patternScale=22 +FREAK_scaleNormalized=true +Fast_gpu=false +Fast_keypointsRatio=0.05 +Fast_nonmaxSuppression=true +Fast_threshold=10 +GFTT_blockSize=3 +GFTT_k=0.04 +GFTT_maxCorners=1000 +GFTT_minDistance=1 +GFTT_qualityLevel=0.01 +GFTT_useHarrisDetector=false +MSER_areaThreshold=1.01 +MSER_delta=5 +MSER_edgeBlurSize=5 +MSER_maxArea=14400 +MSER_maxEvolution=200 +MSER_maxVariation=0.25 +MSER_minArea=60 +MSER_minDiversity=0.2 +MSER_minMargin=0.003 +ORB_WTA_K=2 +ORB_edgeThreshold=31 +ORB_firstLevel=0 +ORB_gpu=false +ORB_nFeatures=500 +ORB_nLevels=8 +ORB_patchSize=31 +ORB_scaleFactor=1.2 +ORB_scoreType=0 +SIFT_contrastThreshold=0.04 +SIFT_edgeThreshold=10 +SIFT_nOctaveLayers=3 +SIFT_nfeatures=0 +SIFT_sigma=1.6 +SURF_extended=true +SURF_gpu=false +SURF_hessianThreshold=600 +SURF_keypointsRatio=0.01 +SURF_nOctaveLayers=2 +SURF_nOctaves=4 +SURF_upright=false +Star_lineThresholdBinarized=8 +Star_lineThresholdProjected=10 +Star_maxSize=45 +Star_responseThreshold=30 +Star_suppressNonmaxSize=5 + +[%General] +autoScroll=true +autoStartCamera=false +autoUpdateObjects=true +controlsShown=false +imageFormats=*.png *.jpg *.bmp *.tiff *.ppm +invertedSearch=true +mirrorView=false +multiDetection=false +multiDetectionRadius=30 +nextObjID=9 +port=0 +sendNoObjDetectedEvents=false +threads=1 +videoFormats=*.avi *.m4v *.mp4 +vocabularyIncremental=false +vocabularyUpdateMinWords=2000 +autoPauseOnDetection=false + +[Homography] +homographyComputed=true +ignoreWhenAllInliers=false +method="1:LMEDS;RANSAC" +minimumInliers=10 +ransacReprojThr=5 +rectBorderWidth=4 +allCornersVisible=false +minAngle=50 + +[NearestNeighbor] +1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh" +2Distance_type="0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING" +3nndrRatioUsed=true +4nndrRatio=0.8 +5minDistanceUsed=false +6minDistance=1.6 +7search_checks=32 +8search_eps=0 +9search_sorted=true +Autotuned_build_weight=0.01 +Autotuned_memory_weight=0 +Autotuned_sample_fraction=0.1 +Autotuned_target_precision=0.8 +Composite_branching=32 +Composite_cb_index=0.2 +Composite_centers_init="0:RANDOM;GONZALES;KMEANSPP" +Composite_iterations=11 +Composite_trees=4 +KDTree_trees=4 +KMeans_branching=32 +KMeans_cb_index=0.2 +KMeans_centers_init="0:RANDOM;GONZALES;KMEANSPP" +KMeans_iterations=11 +Lsh_key_size=20 +Lsh_multi_probe_level=2 +Lsh_table_number=12 diff --git a/rtabmap_demo/launch/config/rgbd.rviz b/rtabmap_demo/launch/config/rgbd.rviz new file mode 100644 index 0000000..e9c36c2 --- /dev/null +++ b/rtabmap_demo/launch/config/rgbd.rviz @@ -0,0 +1,208 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /Info1 + Splitter Ratio: 0.411058009 + Tree Height: 422 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: map + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.02683997 + Min Value: -1.12645996 + Value: true + Axis: Z + Channel Name: rgb + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 2.34176998e-38 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /voxel_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rtabmap_ros/MapCloud + Cloud decimation: 4 + Cloud max depth (m): 4 + Cloud min depth (m): 0 + Cloud voxel size (m): 0.00999999978 + Color: 255; 255; 255 + Color Transformer: RGB8 + Download graph: false + Download map: false + Enabled: true + Filter ceiling (m): 0 + Filter floor (m): 0 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: MapCloud + Node filtering angle (degrees): 30 + Node filtering radius (m): 0 + Position Transformer: XYZ + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /rtabmap/mapData + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rtabmap_ros/Info + Enabled: true + Name: Info + Topic: /rtabmap/info + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 6.35253 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.14572001 + Y: 0.168097004 + Z: -1.13136005 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.879796982 + Target Frame: base_link + Value: Orbit (rviz) + Yaw: 3.73417997 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 824 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1273 + X: 86 + Y: 48 diff --git a/rtabmap_demo/launch/config/rgbd_gui.ini b/rtabmap_demo/launch/config/rgbd_gui.ini new file mode 100644 index 0000000..745754b --- /dev/null +++ b/rtabmap_demo/launch/config/rgbd_gui.ini @@ -0,0 +1,204 @@ +[Gui] +General\imagesKept=true +General\loggerLevel=2 +General\loggerEventLevel=3 +General\loggerPauseLevel=3 +General\loggerType=1 +General\loggerPrintTime=true +General\verticalLayoutUsed=true +General\imageRejectedShown=true +General\imageHighestHypShown=true +General\beep=false 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+graphicsView_graphView\referential_visible=true +graphicsView_graphView\local_radius_visible=false +graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0) +graphicsView_graphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n) +graphicsView_graphView\graph_visible=true +graphicsView_graphView\global_path_visible=true +graphicsView_graphView\local_path_visible=true +graphicsView_graphView\gt_graph_visible=true +General\cloudsKept=true +General\loggerPrintThreadId=false +General\notifyNewGlobalPath=false +General\minDepth0=0 +General\showFeatures0=false +General\downsamplingScan0=1 +General\voxelSizeScan0=0 +General\ptSizeFeatures0=3 +General\minDepth1=0 +General\showFeatures1=true +General\downsamplingScan1=1 +General\voxelSizeScan1=0 +General\ptSizeFeatures1=3 +General\cloudVoxel=0 +General\cloudNoiseRadius=0 +General\cloudNoiseMinNeighbors=5 +General\showLabels=false +General\noFiltering=true +General\subtractFiltering=false +General\subtractFilteringMinPts=5 +General\subtractFilteringRadius=0.02 +General\subtractFilteringAngle=0 +General\normalKSearch=10 +General\gridMapEroded=false +General\projMapFrame=true +General\projMaxGroundAngle=30 +General\projMaxGroundHeight=0 +General\projMinClusterSize=20 +General\projMaxObstaclesHeight=0 +General\projFlatObstaclesDetected=true +General\meshing_angle=15 +General\meshing_quad=false +General\meshing_triangle_size=2 +Figures\counts= +Figures\curves= \ No newline at end of file diff --git a/rtabmap_demo/launch/config/rgbdslam_datasets.rviz b/rtabmap_demo/launch/config/rgbdslam_datasets.rviz new file mode 100644 index 0000000..8b361ef --- /dev/null +++ b/rtabmap_demo/launch/config/rgbdslam_datasets.rviz @@ -0,0 +1,291 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Info1 + - /PointCloud23 + - /PointCloud23/Status1 + Splitter Ratio: 0.529595 + Tree Height: 422 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: map + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.02684 + Min Value: -1.12646 + Value: true + Axis: Z + Channel Name: rgb + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 2.34177e-38 + Min Color: 0; 0; 0 + Min Intensity: 9.21942e-41 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Points + Topic: /voxel_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + kinect: + Value: true + kinect_est: + Value: true + map: + Value: true + odom: + Value: true + openni_camera: + Value: true + openni_depth_frame: + Value: true + openni_depth_optical_frame: + Value: true + openni_rgb_frame: + Value: true + openni_rgb_optical_frame: + Value: true + world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + world: + kinect: + openni_camera: + openni_depth_frame: + openni_depth_optical_frame: + {} + openni_rgb_frame: + openni_rgb_optical_frame: + {} + map: + odom: + kinect_est: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rtabmap_ros/MapCloud + Cloud decimation: 4 + Cloud max depth (m): 4 + Cloud voxel size (m): 0.01 + Color: 255; 255; 255 + Color Transformer: RGB8 + Download graph: false + Download map: false + Enabled: true + Filter floor (m): 0 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: MapCloud + Node filtering angle (degrees): 15 + Node filtering radius (m): 0.1 + Position Transformer: XYZ + Size (Pixels): 3 + Size (m): 0.01 + Style: Points + Topic: /rtabmap/mapData + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rtabmap_ros/Info + Enabled: true + Name: Info + Topic: /rtabmap/info + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Points + Topic: /rtabmap/odom_last_frame + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.17984 + Min Value: 0.0147058 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 85; 255; 127 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Points + Topic: /rtabmap/odom_local_map + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 3.32013 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.216951 + Y: 0.819032 + Z: 1.30659 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.554801 + Target Frame: base_link + Value: Orbit (rviz) + Yaw: 4.9892 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 824 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1273 + X: 316 + Y: 95 diff --git a/rtabmap_demo/launch/config/rtabmap_robot_mapping.rviz b/rtabmap_demo/launch/config/rtabmap_robot_mapping.rviz new file mode 100644 index 0000000..5e44516 --- /dev/null +++ b/rtabmap_demo/launch/config/rtabmap_robot_mapping.rviz @@ -0,0 +1,306 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /MapGraph1 + Splitter Ratio: 0.411058009 + Tree Height: 422 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: map + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.02683997 + Min Value: -1.12645996 + Value: true + Axis: Z + Channel Name: rgb + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 2.34176998e-38 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /voxel_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 8.34969044 + Min Value: -0.777028978 + Value: true + Axis: X + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /jn0/base_scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base_footprint: + Value: true + base_link: + Value: true + camera_link: + Value: true + camera_link_optical: + Value: true + imu_link: + Value: true + laser: + Value: true + laser_mount_link: + Value: true + left_wheel: + Value: true + map: + Value: true + odom: + Value: true + pitch_platform: + Value: true + right_wheel: + Value: true + yaw_platform: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_footprint: + base_link: + imu_link: + {} + laser_mount_link: + laser: + {} + yaw_platform: + pitch_platform: + camera_link: + camera_link_optical: + {} + left_wheel: + {} + right_wheel: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rtabmap_ros/MapCloud + Cloud decimation: 8 + Cloud max depth (m): 4 + Cloud min depth (m): 0 + Cloud voxel size (m): 0.00999999978 + Color: 255; 255; 255 + Color Transformer: RGB8 + Download graph: false + Download map: false + Enabled: true + Filter ceiling (m): 0 + Filter floor (m): 0 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: MapCloud + Node filtering angle (degrees): 30 + Node filtering radius (m): 0 + Position Transformer: XYZ + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /mapData + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rtabmap_ros/MapGraph + Enabled: true + Global loop closure: 255; 0; 0 + Local loop closure: 255; 255; 0 + Merged neighbor: 255; 170; 0 + Name: MapGraph + Neighbor: 0; 0; 255 + Topic: /rtabmap/mapGraph + Unreliable: false + User: 255; 0; 0 + Value: true + Virtual: 255; 0; 255 + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /proj_map + Unreliable: false + Use Timestamp: false + Value: true + - Class: rtabmap_ros/Info + Enabled: true + Name: Info + Topic: /rtabmap/info + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 9.93953991 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0336608998 + Y: 0.112554997 + Z: -0.719693005 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.369796425 + Target Frame: base_link + Value: Orbit (rviz) + Yaw: 2.5791719 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 824 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1273 + X: 203 + Y: 46 diff --git a/rtabmap_demo/launch/config/test_odometry.rviz b/rtabmap_demo/launch/config/test_odometry.rviz new file mode 100644 index 0000000..5684d64 --- /dev/null +++ b/rtabmap_demo/launch/config/test_odometry.rviz @@ -0,0 +1,240 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + Splitter Ratio: 0.411058 + Tree Height: 422 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: odom + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.02684 + Min Value: -1.12646 + Value: true + Axis: Z + Channel Name: rgb + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 2.34177e-38 + Min Color: 0; 0; 0 + Min Intensity: 9.21942e-41 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Points + Topic: /voxel_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base_link: + Value: true + camera_depth_frame: + Value: true + camera_depth_optical_frame: + Value: true + camera_link: + Value: true + camera_rgb_frame: + Value: true + camera_rgb_optical_frame: + Value: true + odom: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + odom: + base_link: + camera_link: + camera_depth_frame: + camera_depth_optical_frame: + {} + camera_rgb_frame: + camera_rgb_optical_frame: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.01 + Style: Points + Topic: /odom_local_map + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Points + Topic: /odom_last_frame + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 7.06539 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.45837 + Y: 0.109967 + Z: -0.602093 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.839796 + Target Frame: base_link + Value: Orbit (rviz) + Yaw: 3.58419 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 824 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1273 + X: 229 + Y: 149 diff --git a/rtabmap_demo/launch/config/turtlebot_navigation.rviz b/rtabmap_demo/launch/config/turtlebot_navigation.rviz new file mode 100644 index 0000000..4dff18b --- /dev/null +++ b/rtabmap_demo/launch/config/turtlebot_navigation.rviz @@ -0,0 +1,446 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Map1/Costmap1 + - /Global Map1/Planner1 + - /Local Map1/Costmap1 + - /Local Map1/Planner1 + Splitter Ratio: 0.5 + Tree Height: 481 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Rtabmap cloud +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: map + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cliff_sensor_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gyro_link: + Alpha: 1 + Show Axes: false + Show Trail: false + plate_bottom_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_top_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_kinect_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_kinect_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Squares + Topic: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.08 + Style: Spheres + Topic: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Name: Planner + Topic: /move_base/TrajectoryPlannerROS/global_plan + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 12; 255 + Enabled: true + Name: Planner + Topic: /move_base/TrajectoryPlannerROS/local_plan + Value: true + Enabled: true + Name: Local Map + - Arrow Length: 0.2 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Name: Amcl Particles + Topic: /particlecloud + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rtabmap_ros/MapCloud + Cloud decimation: 4 + Cloud max depth (m): 4 + Cloud voxel size (m): 0.05 + Color: 255; 255; 255 + Color Transformer: RGB8 + Download graph: false + Download map: false + Enabled: true + Filter floor (m): 0 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Rtabmap cloud + Node filtering angle (degrees): 0 + Node filtering radius (m): 0 + Position Transformer: XYZ + Size (Pixels): 3 + Size (m): 0.01 + Style: Points + Topic: /rtabmap/mapData + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 5.31174 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.00901246 + Y: -0.126793 + Z: 0.0223136 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 1.3598 + Target Frame: base_footprint + Value: Orbit (rviz) + Yaw: 3.12914 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 694 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1503 + X: 85 + Y: 188 diff --git a/rtabmap_demo/launch/rtabmap_robot_mapping.launch b/rtabmap_demo/launch/rtabmap_robot_mapping.launch new file mode 100644 index 0000000..8228464 --- /dev/null +++ b/rtabmap_demo/launch/rtabmap_robot_mapping.launch @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/rtabmap_demo/package.xml b/rtabmap_demo/package.xml new file mode 100644 index 0000000..e1515aa --- /dev/null +++ b/rtabmap_demo/package.xml @@ -0,0 +1,68 @@ + + + rtabmap_demo + 0.0.0 + The rtabmap_demo package + + + + + acx + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git "a/rtabmap_demo/rtabmap\345\234\250\344\273\277\347\234\237\347\216\257\345\242\203\344\270\213\347\232\204\350\277\220\350\241\214\346\223\215\344\275\234\346\214\207\345\215\227.md" "b/rtabmap_demo/rtabmap\345\234\250\344\273\277\347\234\237\347\216\257\345\242\203\344\270\213\347\232\204\350\277\220\350\241\214\346\223\215\344\275\234\346\214\207\345\215\227.md" new file mode 100644 index 0000000..01d6646 --- /dev/null +++ "b/rtabmap_demo/rtabmap\345\234\250\344\273\277\347\234\237\347\216\257\345\242\203\344\270\213\347\232\204\350\277\220\350\241\214\346\223\215\344\275\234\346\214\207\345\215\227.md" @@ -0,0 +1,76 @@ +# rtabmap在仿真环境下的运行操作指南 +### 操作过程 +1. 根据自己的ROS版本,安装对应的rtabmap-ros + * lunar + + $ sudo apt-get install ros-lunar-rtabmap-ros + * Kinetic + + $ sudo apt-get install ros-kinetic-rtabmap-ros + + * Jade + + $ sudo apt-get install ros-jade-rtabmap-ros + * Indigo + + $ sudo apt-get install ros-indigo-rtabmap-ros + + * Hydro + + $ sudo apt-get install ros-hydro-rtabmap-ros + +2. 从源构建,添加依赖 + + * 首先检查 `~/.bashrc`文件是否包含下面两句: + + $ source /opt/ros/kinetic/setup.bash + $ source ~/catkin_ws/devel/setup.bash + * 要求安装的依赖: + + $ sudo apt-get install ros-kinetic-rtabmap ros-kinetic-rtabmap-ros + $ sudo apt-get remove ros-kinetic-rtabmap ros-kinetic-rtabmap-ros + + * 可选择安装的依赖 + + 包括OpenCV,不同的版本依赖不同,g2o,GTSAM,Freenect2.可根据自己的情况选择安装.具体可参考访问[here!](https://github.com/introlab/rtabmap_ros#rtabmap_ros) +3. 安装RTAM-Map(注意不要直接克隆在catkin 工作空间下) + + $ cd ~ + $ git clone https://github.com/introlab/rtabmap.git rtabmap + $ cd rtabmap/build + $ cmake .. [<---两个点] + $ make + $ sudo make install + + $ cd ~/catkin_ws + $ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros + $ catkin_make -j1 +4. 更新版本 + + $ cd rtabmap/build + $ make uninstall + $ sudo make uninstall + + $ cd .. + $ rm -rf build/* + $ git pull origin master + $ cd build + + $ cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel .. + $ cmake .. + + $ make + $ make install + + $ roscd rtabmap_ros + $ git pull origin master + $ cd ~/catkin_ws + $ rm -rf build/CMakeCache.txt build/rtabmap_ros + $ catkin_make -j1 --pkg rtabmap_ros + +5. 输入指令,开始仿真建图 + + 终端1:$ roslaunch robot_sim_demo robot_spawn.launch #启动仿真环境 + 终端2:$ roslaunch rtabmap_demo rtabmap_robot_mapping.launch #启动rtabmap + 终端3:$ rosrun robot_sim_demo robot_keyboard_teleop.py #启动键盘控制 + \ No newline at end of file