srv / stereo_slam Goto Github PK

    <launch>

<arg name="bagfile" default="/tmp/ROS.bag"/>

<!-- Setup the camera -->
<arg name="camera" default="/multisense_sl/camera/"/>
<param name="/use_sim_time" value="true"/>

<!-- Play the bagfile -->
<node pkg="rosbag" type="play" name="rosbag" args="--clock $(arg bagfile)"/>

<!-- Run the stereo image proc -->
<group ns="$(arg camera)">
    <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" />
</group>

<!-- Run the visual odometry: You can choose between viso2 and fovis -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer">
    <remap from="stereo" to="$(arg camera)"/>
    <remap from="image" to="image_color"/>
    <param name="base_link_frame_id" value="/pelvis"/>
</node>
<!--node pkg="fovis_ros" type="stereo_odometer" name="fovis">
    <remap from="stereo" to="$(arg camera)"/>
    <remap from="image" to="image_color"/>
    <param name="base_link_frame_id" value="/pelvis"/>
</node-->

<!-- Stereo SLAM -->
<node pkg="stereo_slam" type="localization" name="slam" output="screen">

    <!-- Working directory -->
    <param name="work_dir" value="/home/tonystark/freelancing/Atlas_slam/slam/" />

    <!-- Topic parameters -->
    <param name="odom_topic" value="stereo_odometer/odometry"/>
    <param name="left_topic" value="$(arg camera)/left/image_color"/>
    <param name="right_topic" value="$(arg camera)/right/image_color"/>
    <param name="left_info_topic" value="$(arg camera)/left/camera_info"/>
    <param name="right_info_topic" value="$(arg camera)/right/camera_info"/>

    <!-- Min displacement between graph vertices (in meters) -->
    <param name="min_displacement" value="0.25"/>

    <!-- Descriptor type: SIFT or SURF -->
    <param name="desc_type" value="SIFT"/>

    <!-- Can be "CROSSCHECK" or "RATIO" -->
    <param name="desc_matching_type" value="CROSSCHECK"/>

    <!-- Descriptor threshold for crosscheck matching (typically between 0.7-0.9) or ratio for ratio matching (typically between 0.6-0.8).  -->
    <param name="desc_thresh_ratio" value="0.88" />

    <!-- Minimum number of neighbors that will be skiped for the loop closure (tipically between 5-20, but depends on the frame rate) -->
    <param name="min_neighbor" value="10" />

    <!-- Get the n first candidates of the hash matching (tipically between 1-5) -->
    <param name="n_candidates" value="5" />

    <!-- Minimun number of descriptor matches to consider a matching as possible loop closure (>8) -->
    <param name="min_matches" value="30" />

    <!-- Minimum number of inliers to consider a matching as possible loop closure (>8) -->
    <param name="min_inliers" value="15" />

    <!-- Set to 0 for LinearSlam Solver with gauss-newton. Set to 1 for LinearSlam Solver with Levenberg -->
    <param name="g2o_algorithm" value="0" />

    <!-- Maximum number of iteration for the g2o algorithm -->
    <param name="g2o_opt_max_iter" value="10" />
</node>

<!-- Pointcloud collector -->
<node pkg="stereo_slam" type="collector" name="collector" output="screen">

    <param name="work_dir" value="/home/tonystark/freelancing/Atlas_slam/slam/" />

    <param name="graph_topic" value="slam/graph"/>
    <param name="cloud_topic" value="$(arg camera)/scaled/points2"/>

    <rosparam file="$(find stereo_slam)/etc/reconstruction.yaml" />

</node>

    roslaunch stereo_slam demo.launch

    error loading <rosparam> tag: 
file does not exist [/home/tonystark/lib_haloc/src/stereo_slam/etc/reconstruction.yaml]
    XML is <rosparam file="$(find stereo_slam)/etc/reconstruction.yaml"/>
    The traceback for the exception was written to the log file