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point2laser is instead of depth2laser

This commit is contained in:
litian.zhuang 2021-12-13 15:59:33 +08:00
parent 60bc94db57
commit 7692abeb49
11 changed files with 118 additions and 58 deletions
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22
onekey.sh
View File

@ -95,17 +95,17 @@ check_camera(){
#检查使用哪种设备
if [ -n "$(lsusb -d 2bc5:0403)" ]; then
CAMERATYPE="astrapro"
depthtolaser="/camera/depth/image_rect_raw"
camera_flag=$[$camera_flag + 1]
fi
if [ -n "$(lsusb -d 2bc5:0401)" ]; then
CAMERATYPE="astra"
depthtolaser="/camera/depth/image_raw"
camera_flag=$[$camera_flag + 1]
fi
if [ -n "$(lsusb -d 8086:0b07)" ]; then
CAMERATYPE="d435"
depthtolaser="/camera/depth/image_rect_raw"
camera_flag=$[$camera_flag + 1]
fi
@ -507,11 +507,11 @@ spark_navigation_3d(){
echo -e "${Info}"
echo && stty erase ^? && read -p "按回车键（Enter）开始："
if [[ "${SLAMTYPE}" == "2d" ]]; then
print_command "roslaunch spark_navigation amcl_demo_rviz.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}"
roslaunch spark_navigation amcl_demo_rviz.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}
print_command "roslaunch spark_navigation amcl_demo_rviz.launch camera_type_tel:=${CAMERATYPE}"
roslaunch spark_navigation amcl_demo_rviz.launch camera_type_tel:=${CAMERATYPE}
else
print_command "roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}"
roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}
print_command "roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE}"
roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE}
fi
}
@ -833,14 +833,14 @@ spark_build_map_3d(){
echo -e "${Tip}"
echo && stty erase ^? && read -p "请选择是否继续y/n：" choose
if [[ "${choose}" == "y" ]]; then
print_command "roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}"
roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}
print_command "roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=${CAMERATYPE}"
roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=${CAMERATYPE}
else
return
fi
else
print_command "roslaunch spark_slam depth_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}"
roslaunch spark_slam depth_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}
print_command "roslaunch spark_slam depth_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE}"
roslaunch spark_slam depth_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE}
fi
}

18
src/spark_app/spark_navigation/launch/amcl_demo_rviz.launch
View File

@ -3,7 +3,7 @@
<!-- 摄像机类型 -->
<arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra, d435...]"/>
<arg name="3d_sensor" default="astra"/> <!-- r200, kinect, asus_xtion_pro -->
<arg name="depthtolaser" default="/camera/depth/image_rect_raw"/>
<!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch">
@ -11,20 +11,8 @@
</include>
<!-- Run the depthimage_to_laserscan node -->
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
<!--<remap from="image" to="/camera/depth/image_raw" />-->
<remap from="image" to="$(arg depthtolaser)" />
<!--<remap from="camera_info" to="/camera/depth/camera_info" />-->
<remap from="camera_info" to="/camera/depth/camera_info" />
<remap from="scan" to="/scan" />
<param name="output_frame_id" value="camera_depth_frame" />
<!--added by xilai 6/19/2017-->
<param name="scan_height" value="100" />
</node>
<include file="$(find camera_driver_transfer)/launch/$(arg camera_type_tel)_p2s.launch">
</include>
<!-- Map server -->

7
src/spark_app/spark_rtabmap/launch/rtab_demo.launch
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@ -2,17 +2,18 @@
<launch>
<!-- camera -->
<arg name="camera_types" default="" doc="camera type [astrapro, astra]"/>
<arg name="point2laser" default="/camera/depth/points"/>
<arg name="depthtolaser" default="/camera/depth/points"/>
<!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_types)"/>
<arg name="dp_rgist" value="true"/>
</include>
<include file="$(find spark_slam)/launch/pointcloud2scan.launch">
<arg name="point2laser" value="$(arg point2laser)"/>
<!-- Run the depthimage_to_laserscan node -->
<include file="$(find camera_driver_transfer)/launch/$(arg camera_types)_p2s.launch">
</include>
<!-- Move base -->
<include file="$(find spark_navigation)/launch/includes/move_base.launch.xml"/>

4
src/spark_app/spark_rtabmap/launch/spark_mapping_astrapro.launch
View File

@ -25,7 +25,7 @@
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="map_negative_poses_ignored" type="bool" value="true"/>
<param name="map_always_update" type="bool" value="true"/>
<!-- When sending goals on /rtabmap/goal topic, use actionlib to communicate with move_base -->
<param name="use_action_for_goal" type="bool" value="true"/>
@ -83,7 +83,7 @@
<!-- visualization with rtabmapviz -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="false"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>

7
src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch
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@ -3,7 +3,7 @@
<launch>
<!-- camera -->
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
<arg name="point2laser" default="/camera/depth_registered/points"/>
<!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch">
@ -12,11 +12,12 @@
</include>
<include file="$(find spark_slam)/launch/pointcloud2scan.launch">
<arg name="point2laser" value="$(arg point2laser)"/>
<!-- Run the depthimage_to_laserscan node -->
<include file="$(find camera_driver_transfer)/launch/$(arg camera_type_tel)_p2s.launch">
</include>
<!-- Move base -->
<include file="$(find spark_navigation)/launch/includes/move_base.launch.xml"/>

4
src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch
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@ -1,13 +1,13 @@
<!--spark rtabmap-->
<!--SPARK技术讨论与反馈群：8346256-->
<launch>
<arg name="point2laser" default="/camera/depth_registered/points"/>
<!-- camera -->
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]" />
<!-- spark base driver -->
<include file="$(find spark_rtabmap)/launch/rtab_demo.launch">
<arg name="camera_types" value="$(arg camera_type_tel)" />
<arg name="point2laser" value="$(arg point2laser)"/>
</include>
<!-- rtabmap -->

19
src/spark_app/spark_slam/launch/depth_slam.launch
View File

@ -2,7 +2,6 @@
<!--SPARK技术讨论与反馈群：8346256-->
<launch>
<!-- Arguments -->
<arg name="depthtolaser" default="/camera/depth/image_rect_raw"/>
<arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
<arg name="camera_types" default="astrapro" doc="camera type [astrapro, astra, d435]"/>
<arg name="configuration_basename" default="spark_lds_2d.lua"/>
@ -14,23 +13,9 @@
</include>
<!-- Run the depthimage_to_laserscan node -->
<include file="$(find spark_slam)/launch/pointcloud2scan.launch"/>
<!--
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
<include file="$(find camera_driver_transfer)/launch/$(arg camera_types)_p2s.launch">
</include>
<remap from="image" to="$(arg depthtolaser)" />
<remap from="camera_info" to="/camera/depth/camera_info" />
<remap from="scan" to="/scan" />
<param name="output_frame_id" value="camera_depth_frame" />
<param name="scan_height" value="50" />
</node>
-->
<!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map -->
<include file="$(find spark_slam)/launch/spark_$(arg slam_methods).launch">
<!--arg name="model" value="$(arg model)"/-->

2
src/spark_app/spark_slam/launch/depth_slam_teleop.launch
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@ -2,12 +2,10 @@
<launch>
<!--spark slam-->
<arg name="slam_methods_tel" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
<arg name="depthtolaser" default="/camera/depth/image_rect_raw"/>
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
<include file="$(find spark_slam)/launch/depth_slam.launch">
<arg name="slam_methods" value="$(arg slam_methods_tel)"/>
<arg name="camera_types" value="$(arg camera_type_tel)" />
<arg name="depthtolaser" value="$(arg depthtolaser)"/>
</include>
<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->
<node pkg="spark_teleop" type="keyboard_control.sh" name="kc_depth" />

29
src/spark_driver/camera/camera_driver_transfer/launch/astra_p2s.launch Executable file
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@ -0,0 +1,29 @@
<!--astra -->
<!--spark camera pointcloud to laserscan-->
<launch>
<arg name="point2laser" default="/camera/depth/points"/>
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<remap from="cloud_in" to="$(arg point2laser)"/>
<remap from="scan" to="/scan" />
<rosparam>
target_frame: camera_link
transform_tolerance: 0.01
min_height: 0.0
max_height: 1.0
angle_min: -1.5708
angle_max: 1.5708
angle_increment: 0.0087
scan_time: 0.3333
range_min: 0.45
range_max: 4.0
use_inf: true
#concurrency_level affects number of pc queued for processing and the number of threadsused
# 0: Detect number of cores
# 1: Single threaded
# 2: inf : Parallelism level
concurrency_level: 1
</rosparam>
</node>
</launch>

29
src/spark_driver/camera/camera_driver_transfer/launch/astrapro_p2s.launch Executable file
View File

@ -0,0 +1,29 @@
<!--astra -->
<!--spark camera pointcloud to laserscan-->
<launch>
<arg name="point2laser" default="/camera/depth/points"/>
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<remap from="cloud_in" to="$(arg point2laser)"/>
<remap from="scan" to="/scan" />
<rosparam>
target_frame: camera_link
transform_tolerance: 0.01
min_height: 0.0
max_height: 1.0
angle_min: -1.5708
angle_max: 1.5708
angle_increment: 0.0087
scan_time: 0.3333
range_min: 0.45
range_max: 4.0
use_inf: true
#concurrency_level affects number of pc queued for processing and the number of threadsused
# 0: Detect number of cores
# 1: Single threaded
# 2: inf : Parallelism level
concurrency_level: 1
</rosparam>
</node>
</launch>

29
src/spark_driver/camera/camera_driver_transfer/launch/d435_p2s.launch Executable file
View File

@ -0,0 +1,29 @@
<!--astra -->
<!--spark camera pointcloud to laserscan-->
<launch>
<arg name="point2laser" default="/camera/depth_registered/points"/>
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<remap from="cloud_in" to="$(arg point2laser)"/>
<remap from="scan" to="/scan" />
<rosparam>
target_frame: camera_link
transform_tolerance: 0.01
min_height: 0.0
max_height: 1.0
angle_min: -1.5708
angle_max: 1.5708
angle_increment: 0.0087
scan_time: 0.3333
range_min: 0.45
range_max: 4.0
use_inf: true
#concurrency_level affects number of pc queued for processing and the number of threadsused
# 0: Detect number of cores
# 1: Single threaded
# 2: inf : Parallelism level
concurrency_level: 1
</rosparam>
</node>
</launch>