slam: added rtabmap example

turtlebot3_slam/launch/turtlebot3_rtabmap.launch

@@ -0,0 +1,38 @@
+<launch>
+  <!-- Arguments -->
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
+  <arg name="set_base_frame" default="base_footprint"/>
+  <arg name="set_odom_frame" default="odom"/>
+  <arg name="set_map_frame"  default="map"/>
+
+  <!-- RTAB-Map -->
+  <group ns="rtabmap">
+    <node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
+      <param name="database_path"       type="string" value="~/.ros/rtabmap.db"/>
+      <param name="frame_id"            type="string" value="$(arg set_base_frame)"/>
+      <param name="map_frame_id"        type="string" value="$(arg set_map_frame)"/>
+      <param     if="$(eval model=='waffle')" name="subscribe_rgb" type="bool" value="true"/>
+      <param unless="$(eval model=='waffle')" name="subscribe_rgb" type="bool" value="false"/>
+      <param     if="$(eval model=='waffle')" name="subscribe_depth" type="bool" value="true"/>
+      <param unless="$(eval model=='waffle')" name="subscribe_depth" type="bool" value="false"/>
+      <param name="subscribe_scan"      type="bool"   value="true"/>
+      <param name="approx_sync"         type="bool"   value="true"/>
+
+      <!-- inputs -->
+      <remap from="scan"            to="/scan"/>
+      <remap from="odom"            to="/odom"/>
+      <remap from="rgb/image"       to="/camera/rgb/image_raw"/>
+      <remap from="depth/image"     to="/camera/depth/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
+
+      <!-- output -->
+      <remap from="grid_map" to="/map"/>
+
+      <!-- RTAB-Map's parameters -->
+      <param name="Reg/Strategy"                 type="string" value="1"/>
+      <param name="Reg/Force3DoF"                type="string" value="true"/>
+      <param name="GridGlobal/MinSize"           type="string" value="20"/>
+    </node>
+  </group>
+</launch>

turtlebot3_slam/launch/turtlebot3_slam.launch

@@ -1,7 +1,7 @@
 <launch>
   <!-- Arguments -->
   <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
-  <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
+  <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration, rtabmap]"/>
   <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
   <arg name="open_rviz" default="true"/>
 

turtlebot3_slam/rviz/turtlebot3_rtabmap.rviz

@@ -0,0 +1,338 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 355
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      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
+        base_scan:
+          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_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_back_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        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: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        base_scan:
+          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
+        caster_back_left_link:
+          Value: true
+        caster_back_right_link:
+          Value: true
+        imu_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: 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_rviz_plugins/MapCloud
+      Cloud decimation: 4
+      Cloud from scan: false
+      Cloud max depth (m): 4
+      Cloud min depth (m): 0
+      Cloud voxel size (m): 0.009999999776482582
+      Color: 255; 255; 255
+      Color Transformer: ""
+      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: ""
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /rtabmap/mapData
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Class: rtabmap_rviz_plugins/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: 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: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      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: raw
+      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/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Camera:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ee000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000231000000bc0000000000000000fb0000000c00430061006d0065007200610000000231000000bc0000001600000016fb0000000a0049006d0061006700650100000231000000bc0000001600ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 132
+  Y: 27