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| <?xml version="1.0"?> | ||
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| <launch> | ||
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| <!-- See https://github.com/unitreerobotics/unitree_guide to bringup simulation. | ||
| Fix Cx/Cy of the cameras by setting them to 464 and 400 respectively in unitree_ros/robots/go1_description/xacro/depthCamera.xacro | ||
| Ideally, build rtabmap with OpenGV support. | ||
| Would work better if simulated environment has a lot of visual texture, see https://github.com/introlab/rtabmap_ros/issues/1031#issuecomment-1722322305 | ||
| Launch: | ||
| $ roslaunch unitree_guide gazeboSim.launch wname:=apt | ||
| $ roslaunch rtabmap_demos demo_unitree_quadruped_robot.launch | ||
| $ ~/catkin_ws/devel/lib/unitree_guide/junior_ctrl | ||
| Press 2 to get up, press 4 to move (w,a,s,d) and rotate (j,l) | ||
| --> | ||
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| <arg name="localization" default="false"/> | ||
| <arg if="$(arg localization)" name="rtabmap_args" default="--Mem/IncrementalMemory false"/> | ||
| <arg unless="$(arg localization)" name="rtabmap_args" default="--Mem/IncrementalMemory true --delete_db_on_start"/> | ||
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| <!-- sync rgb/depth images and camera info per camera --> | ||
| <group ns="camera_face"> | ||
| <node pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync"> | ||
| <remap from="rgb/image" to="color/image_raw"/> | ||
| <remap from="depth/image" to="depth/image_raw"/> | ||
| <remap from="rgb/camera_info" to="color/camera_info"/> | ||
| <param name="approx_sync" value="false"/> | ||
| </node> | ||
| </group> | ||
| <group ns="camera_left"> | ||
| <node pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync"> | ||
| <remap from="rgb/image" to="color/image_raw"/> | ||
| <remap from="depth/image" to="depth/image_raw"/> | ||
| <remap from="rgb/camera_info" to="color/camera_info"/> | ||
| <param name="approx_sync" value="false"/> | ||
| </node> | ||
| </group> | ||
| <group ns="camera_right"> | ||
| <node pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync"> | ||
| <remap from="rgb/image" to="color/image_raw"/> | ||
| <remap from="depth/image" to="depth/image_raw"/> | ||
| <remap from="rgb/camera_info" to="color/camera_info"/> | ||
| <param name="approx_sync" value="false"/> | ||
| </node> | ||
| </group> | ||
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| <group ns="rtabmap"> | ||
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| <!-- sync all cameras together --> | ||
| <node pkg="rtabmap_sync" type="rgbdx_sync" name="rgbdx_sync" output="screen"> | ||
| <remap from="rgbd_image0" to="/camera_left/rgbd_image"/> | ||
| <remap from="rgbd_image1" to="/camera_face/rgbd_image"/> | ||
| <remap from="rgbd_image2" to="/camera_right/rgbd_image"/> | ||
| <param name="rgbd_cameras" type="int" value="3"/> | ||
| </node> | ||
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| <!-- Odometry --> | ||
| <node pkg="rtabmap_odom" type="rgbd_odometry" name="rgbd_odometry" output="screen"> | ||
| <remap from="imu" to="/trunk_imu"/> | ||
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| <param name="subscribe_rgbd" type="bool" value="true"/> | ||
| <param name="frame_id" type="string" value="base"/> | ||
| <param name="rgbd_cameras" type="int" value="0"/> | ||
| <param name="wait_for_imu_to_init" type="bool" value="true"/> | ||
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| <param name="Odom/ImageDecimation" type="int" value="2"/> | ||
| </node> | ||
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| <!-- Visual SLAM --> | ||
| <node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)"> | ||
| <remap from="imu" to="/trunk_imu"/> | ||
| <param name="subscribe_depth" type="bool" value="false"/> | ||
| <param name="subscribe_rgbd" type="bool" value="true"/> | ||
| <param name="rgbd_cameras" type="int" value="0"/> | ||
| <param name="frame_id" type="string" value="base"/> | ||
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| <param name="Grid/RangeMin" type="string" value="0.1"/> <!-- to avoid adding legs as obstacle in occupancy grid map --> | ||
| <param name="Grid/MaxObstacleHeight" type="string" value="1"/> | ||
| <param name="Mem/ImagePreDecimation" type="string" value="2"/> | ||
| <param name="Mem/ImagePostDecimation" type="string" value="2"/> | ||
| </node> | ||
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| <!-- Visualisation RTAB-Map --> | ||
| <node pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen"> | ||
| <param name="subscribe_depth" type="bool" value="false"/> | ||
| <param name="subscribe_rgbd" type="bool" value="true"/> | ||
| <param name="subscribe_odom_info" type="bool" value="true"/> | ||
| <param name="frame_id" type="string" value="base"/> | ||
| <param name="rgbd_cameras" type="int" value="0"/> | ||
| </node> | ||
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| </group> | ||
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| </launch> |