feat(slam): add rtabmap_ros

rtabmap/data/presets/camera_tof_icp.ini

@@ -0,0 +1,31 @@
+# Could be used with TOF cameras like Kinect v2, Kinect For Azure or L515
+
+[Camera]
+Scan\downsampleStep = 4
+Scan\fromDepth = true
+Scan\normalsK = 20
+Scan\normalsRadius = 0
+Scan\normalsUp = false
+Scan\rangeMax = 0
+Scan\rangeMin = 0
+Scan\voxelSize = 0.05
+
+[Gui]
+General\showClouds0 = false
+General\showClouds1 = false
+
+[Core]
+Icp\CorrespondenceRatio = 0.2
+Icp\Epsilon = 0.005
+Icp\OutlierRatio = 0.65
+Icp\PointToPlaneMinComplexity = 0
+Icp\Strategy = 0
+Icp\VoxelSize = 0
+Odom\Deskewing = false
+Odom\ScanKeyFrameThr = 0.7
+OdomF2M\ScanMaxSize = 15000
+# match the input voxel size:
+OdomF2M\ScanSubtractRadius = 0.05 
+RGBD\ProximityPathMaxNeighbors = 1
+# Make sure PM is used:
+Reg\Strategy = 1 

rtabmap/data/presets/lidar3d_icp.ini

@@ -0,0 +1,46 @@
+# Could be used with LiDARs like Velodyne, RoboSense, Ouster
+
+[Camera]
+Scan\downsampleStep = 1
+Scan\fromDepth = false
+Scan\normalsK = 0
+Scan\normalsRadius = 0
+Scan\normalsUp = false
+Scan\rangeMax = 0
+Scan\rangeMin = 0
+Scan\voxelSize = 0
+
+[Gui]
+General\showClouds0 = false
+General\showClouds1 = false
+
+[Core]
+# Would be 0.01 for odom and 0.2 for mapping:
+Icp\CorrespondenceRatio = 0.1
+Icp\Epsilon = 0.001
+Icp\FiltersEnabled = 2
+Icp\Iterations = 10
+Icp\OutlierRatio = 0.7
+# ~10x the voxel size:
+Icp\MaxCorrespondenceDistance = 0.5
+Icp\MaxTranslation = 2
+# Uncomment if lidar can see ground most of the time (on a car or wheeled robot):
+#Icp\PointToPlaneGroundNormalsUp = 0.8
+Icp\PointToPlaneK = 20
+Icp\PointToPlaneMinComplexity = 0
+# Make sure PM is used:
+Icp\Strategy = 1
+Icp\VoxelSize = 0.05
+Mem\NotLinkedNodesKept = false
+Mem\STMSize = 30
+Odom\Deskewing = true
+Odom\GuessSmoothingDelay = 0.3
+Odom\ScanKeyFrameThr = 0.6
+OdomF2M\ScanMaxSize = 15000
+# Match voxel size:
+OdomF2M\ScanSubtractRadius = 0.05
+RGBD\AngularUpdate = 0.05
+RGBD\LinearUpdate = 0.05
+RGBD\ProximityMaxGraphDepth = 0
+RGBD\ProximityPathMaxNeighbors = 1
+Reg\Strategy = 1