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merged master -> ros2

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matlabbe
2021-12-20 17:03:13 -05:00
parent 67de34b6a8
commit 07951eee08
9 changed files with 182 additions and 2 deletions
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launch/ros2/rtabmap.launch.py
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@@ -296,6 +296,7 @@ def launch_setup(context, *args, **kwargs):
("user_data_async", LaunchConfiguration('user_data_async_topic')),
("gps/fix", LaunchConfiguration('gps_topic')),
("tag_detections", LaunchConfiguration('tag_topic')),
("fiducial_transforms", LaunchConfiguration('fiducial_topic')),
("odom", LaunchConfiguration('odom_topic')),
("imu", LaunchConfiguration('imu_topic'))],
arguments=[LaunchConfiguration("args")],
@@ -465,6 +466,7 @@ def generate_launch_description():
DeclareLaunchArgument('tag_topic', default_value='/tag_detections', description='AprilTag topic async subscription. This is used for SLAM graph optimization and loop closure detection. Landmark poses are also published accordingly to current optimized map.'),
DeclareLaunchArgument('tag_linear_variance', default_value='0.0001', description=''),
DeclareLaunchArgument('tag_angular_variance', default_value='9999.0', description='>=9999 means rotation is ignored in optimization, when rotation estimation of the tag is not reliable or not computed.'),
DeclareLaunchArgument('fiducial_topic', default_value='/fiducial_transforms', description='aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covariance.'),
OpaqueFunction(function=launch_setup)
])