GilMe
commented
8 months ago Here is my launch file:
<launch>
<arg name="stereo_namespace" default="/stereo_camera"/>
<arg name="left_cam_topic" default="/stereo/fisheye_left/image_raw"/>
<arg name="left_cam_info_topic" default="/stereo/fisheye_left/camera_info"/>
<arg name="right_cam_topic" default="/stereo/fisheye_right/image_raw"/>
<arg name="right_cam_info_topic" default="/stereo/fisheye_right/camera_info"/>
<!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="frame_id" default="base_link"/>
<!-- If set, TF is used to get odometry instead of the topic -->
<arg name="odom_frame_id" default="odom"/>
<!-- Lidar -->
<arg name="lidar_topic" default="/lidar/scan_3D"/>
<arg name="feature_type" default="6"/>
<arg name="gravity_opt" default="false"/> <!-- Rtabmap will use IMU data to add gravity constraints to graph -->
<arg name="args" default=""/>
<arg if="$(arg gravity_opt)" name="common_args" default="-d --RGBD/CreateOccupancyGrid false --Kp/DetectorStrategy $(arg feature_type) --Optimizer/GravitySigma 0.3 $(arg args)"/>
<arg unless="$(arg gravity_opt)" name="common_args" default="-d --RGBD/CreateOccupancyGrid false --Kp/DetectorStrategy $(arg feature_type) $(arg args) "/>
<!-- <arg if="$(arg gravity_opt)" name="common_args" default="-d -/-RGBD/CreateOccupancyGrid false -/-Odom/FeatureType $(arg feature_type) -/-Kp/DetectorStrategy $(arg feature_type) -/-Optimizer/GravitySigma 0.3 $(arg args)"/>
<arg unless="$(arg gravity_opt)" name="common_args" default="-d -/-RGBD/CreateOccupancyGrid false -/-Odom/FeatureType $(arg feature_type) -/-Kp/DetectorStrategy $(arg feature_type) $(arg args) "/> -->
<arg name="cfg" default=""/>
<arg name="rectify_stereo" default="true"/>
<arg name="rtabmap_viz" default="false"/>
<arg name="rviz" default="false"/>
<!--******************************************
** Start launching nodes and launch files
**********************************************-->
<!-- Image rectification and publishing synchronized camera_info-->
<group ns="$(arg stereo_namespace)">
<node if="$(arg rectify_stereo)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="$(arg left_cam_topic)"/>
<remap from="left/camera_info" to="$(arg left_cam_info_topic)"/>
<remap from="right/image_raw" to="$(arg right_cam_topic)"/>
<remap from="right/camera_info" to="$(arg right_cam_info_topic)"/>
</node>
</group>
<param name="/rtabmap/rtabmap/Grid/3D" type="bool" value="true"/>
<param name="/rtabmap/rtabmap/Grid/FromDepth" type="bool" value="false"/>
<param name="/rtabmap/rtabmap/Grid/Sensor" type="int" value="0"/>
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg unless="$(arg rectify_stereo)" name="rtabmap_args" value="$(arg common_args) --Rtabmap/ImagesAlreadyRectified false"/>
<arg if="$(arg rectify_stereo)" name="rtabmap_args" value="$(arg common_args)"/>
<arg unless="$(arg rectify_stereo)" name="left_image_topic" value="$(arg left_cam_topic)"/>
<arg unless="$(arg rectify_stereo)" name="left_camera_info_topic" value="$(arg left_cam_info_topic)" />
<arg if="$(arg rectify_stereo)" name="left_image_topic" value="/stereo_camera/left/image_rect"/>
<arg if="$(arg rectify_stereo)" name="left_camera_info_topic" value="$(arg left_cam_info_topic)"/>
<arg unless="$(arg rectify_stereo)" name="right_image_topic" value="$(arg right_cam_topic)"/>
<arg unless="$(arg rectify_stereo)" name="right_camera_info_topic" value="$(arg right_cam_info_topic)" />
<arg if="$(arg rectify_stereo)" name="right_image_topic" value="/stereo_camera/right/image_rect"/>
<arg if="$(arg rectify_stereo)" name="right_camera_info_topic" value="$(arg right_cam_info_topic)" />
<arg name="stereo" value="true"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="wait_for_transform" value="0.1"/>
<arg name="cfg" value="$(arg cfg)"/>
<!--<arg name="imu_topic" value="/imu/data"/>-->
<arg name="rtabmap_viz" value="$(arg rtabmap_viz)"/>
<arg name="rviz" value="$(arg rviz)"/>
<!--<arg name="wait_imu_to_init" value="true"/>-->
<arg name="stereo_namespace" value="$(arg stereo_namespace)"/>
<arg name="subscribe_scan_cloud" value="true"/>
<arg name="scan_cloud_topic" value="$(arg lidar_topic)"/>
<arg name="approx_sync" value="true"/>
<arg name="visual_odometry" value="false"/>
<arg name="icp_odometry" value="false"/>
<arg name="odom_frame_id" value="odom"/>
<arg name="queue_size" value="30"/>
</include>
</launch>
matlabbe
Hi, I have a setup with a lidar and a stereo camera. I am using an external algorithm to provide the vo through a tf. I want rtabmap to use the lidar in order to build the 3d occupancy grid, and the camera to do the loop closure. When I set stereo to true and subscribe_scan_cloud also to true, I get that rtabmap is only trying to subscribe to the stereo camera topics. If I set stereo to false, then the rtabmap sets up as rgbd and it does subscribe to my lidar topic. I get the following:
If stereo=true:
If stereo=false:
What am I doing wrong?