mirror of
https://github.com/introlab/rtabmap_ros.git
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70 lines
2.9 KiB
Python
70 lines
2.9 KiB
Python
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# Example to run rgbd datasets:
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# [ROS1] Prepare ROS1 rosbag for conversion to ROS2
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# $ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
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# $ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag
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# $ wget https://raw.githubusercontent.com/srv/srv_tools/kinetic/bag_tools/scripts/change_frame_id.py
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# Edit change_frame_id.py, remove/comment lines beginning with "PKG" and "import roslib", change line "Exception, e" to "Exception"
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# $ roscore
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# $ python3 change_frame_id.py -o rgbd_dataset_freiburg3_long_office_household_frameid_fixed.bag -i rgbd_dataset_freiburg3_long_office_household.bag -f openni_rgb_optical_frame -t /camera/rgb/image_color
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# [ROS2]
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# $ sudo pip install rosbags # See https://docs.openvins.com/dev-ros1-to-ros2.html
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# $ rosbags-convert rgbd_dataset_freiburg3_long_office_household_frameid_fixed.bag
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# $ ros2 launch rtabmap_ros rgbdslam_datasets.launch.py
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# $ cd rgbd_dataset_freiburg3_long_office_household_frameid_fixed
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# $ ros2 bag play rgbd_dataset_freiburg3_long_office_household_frameid_fixed.db3
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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parameters=[{
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'frame_id':'kinect',
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'subscribe_depth':True,
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'subscribe_odom_info':True,
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# RTAB-Map's parameters should all be string type:
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'Odom/Strategy':'0',
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'Odom/ResetCountdown':'15',
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'Odom/GuessSmoothingDelay':'0',
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'Rtabmap/StartNewMapOnLoopClosure':'true',
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'RGBD/CreateOccupancyGrid':'false',
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'Rtabmap/CreateIntermediateNodes':'true',
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'RGBD/LinearUpdate':'0',
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'RGBD/AngularUpdate':'0'}]
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remappings=[
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('rgb/image', '/camera/rgb/image_color'),
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('rgb/camera_info', '/camera/rgb/camera_info'),
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('depth/image', '/camera/depth/image')]
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return LaunchDescription([
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# Nodes to launch
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Node(
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package='rtabmap_ros', executable='rgbd_odometry', output='screen',
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parameters=parameters,
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remappings=remappings),
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Node(
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package='rtabmap_ros', executable='rtabmap', output='screen',
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parameters=parameters,
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remappings=remappings,
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arguments=['-d']),
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Node(
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package='rtabmap_ros', executable='rtabmapviz', output='screen',
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parameters=parameters,
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remappings=remappings),
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# /tf topic is not recognized in ROS2, create a fake tf
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Node(
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package='tf2_ros', executable='static_transform_publisher', output='screen',
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arguments=['0.0', '0.0', '0.0', '-1.57', '0.0', '-1.57', 'kinect', 'openni_rgb_optical_frame']),
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])
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