Added rgbdslam dataset launch example for ros2 (#796 #797)

2026-10-05 01:07:49 +08:00 · 2022-11-20 15:08:01 -08:00
parent 304272744c
commit 14ea1ba0ec
1 changed files with 69 additions and 0 deletions
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+
+# Example to run rgbd datasets:
+# [ROS1] Prepare ROS1 rosbag for conversion to ROS2
+#   $ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
+#   $ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag
+#   $ wget https://raw.githubusercontent.com/srv/srv_tools/kinetic/bag_tools/scripts/change_frame_id.py
+#   Edit change_frame_id.py, remove/comment lines beginning with "PKG" and "import roslib", change line "Exception, e" to "Exception"
+#   $ roscore
+#   $ 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
+# [ROS2]
+#   $ sudo pip install rosbags     # See https://docs.openvins.com/dev-ros1-to-ros2.html
+#   $ rosbags-convert rgbd_dataset_freiburg3_long_office_household_frameid_fixed.bag
+
+#   $ ros2 launch rtabmap_ros rgbdslam_datasets.launch.py
+#   $ cd rgbd_dataset_freiburg3_long_office_household_frameid_fixed
+#   $ ros2 bag play rgbd_dataset_freiburg3_long_office_household_frameid_fixed.db3
+
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+    parameters=[{
+          'frame_id':'kinect',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          # RTAB-Map's parameters should all be string type:
+          'Odom/Strategy':'0',
+          'Odom/ResetCountdown':'15',
+          'Odom/GuessSmoothingDelay':'0',
+          'Rtabmap/StartNewMapOnLoopClosure':'true',
+          'RGBD/CreateOccupancyGrid':'false',
+          'Rtabmap/CreateIntermediateNodes':'true',
+          'RGBD/LinearUpdate':'0',
+          'RGBD/AngularUpdate':'0'}]
+          
+    remappings=[
+          ('rgb/image', '/camera/rgb/image_color'),
+          ('rgb/camera_info', '/camera/rgb/camera_info'),
+          ('depth/image', '/camera/depth/image')]
+          
+
+    return LaunchDescription([
+
+        # Nodes to launch
+        Node(
+            package='rtabmap_ros', executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+
+        Node(
+            package='rtabmap_ros', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        Node(
+            package='rtabmap_ros', executable='rtabmapviz', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+       
+        # /tf topic is not recognized in ROS2, create a fake tf
+        Node(
+            package='tf2_ros', executable='static_transform_publisher', output='screen',
+            arguments=['0.0', '0.0', '0.0', '-1.57', '0.0', '-1.57', 'kinect', 'openni_rgb_optical_frame']),
+    ])