semantic_map_launcher¶

This launches the metric mapping / semantic mapping nodes from the strands_3d_mapping repository.

roslaunch semantic_map_launcher semantic_map.launch

Nodes started¶

The parameters accepted by the launch file are:

save_intermediate_clouds : whether to save the intermediate point clouds from the sweeps to the disk. Default true
save_intermediate_images : whether to save all the images making up an intermediate cloud to the disk (this takes a lot of space!!). Default false
log_to_db : log the sweeps to mongodb. Default true
log_objects_to_db : log the dynamic clusters to mongodb. Default true
cleanup : at startup, delete everything in the ~/.semanticMap/ folder. Default false
max_instances : maximum number of sweeps, per waypoint to keep in the ~/.semanticMap/ folder. Default: 10
cache_old_data : if there are more sweeps per waypoint than the max_instances parameter, delete them or move them to the cache folder ~/.semanticMap/cache/. Default false, i.e. delete older sweeps.
update_metaroom : update the metaroom with new sweeps. Default true
newest_dynamic_clusters : compute dynamic clusters by comparing the latest sweep with the previous one (as opposed to comparing the latest sweep to the metaroom). Default true
min_object_size : the minimum number of points for a cluster to be reported. Default 500
segmentation_method : the segmentation method used to segment the object from the additional views collected by the value. Supported methods: convex_segmentation and meta_room. Default: meta_room.