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23 lines
851 B
Python
23 lines
851 B
Python
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# rtabmap alone, mapping from odometry only, for test_shutdown.py.
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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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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return LaunchDescription([
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DeclareLaunchArgument('database_path'),
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DeclareLaunchArgument('working_directory'),
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Node(
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package='rtabmap_slam', executable='rtabmap', output='screen',
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parameters=[{
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'database_path': LaunchConfiguration('database_path'),
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'Rtabmap/WorkingDirectory': LaunchConfiguration('working_directory'),
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'subscribe_depth': False,
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'subscribe_rgb': False,
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'Rtabmap/DetectionRate': '0'}],
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arguments=['-d']),
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])
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