fixed MapCloud rviz plugin with rtabmap namespace property. rtabmap.launch.py: added "rviz" argument to start RVIZ with preconfigured displays. point_cloud_xyzrgb: added RGBA encoding support for stereo.

2026-10-04 08:47:45 +08:00 · 2021-10-05 18:01:30 -04:00
parent fb1200c8f1
commit 16e1c581f4
11 changed files with 860 additions and 233 deletions
@@ -25,8 +25,11 @@ def generate_launch_description():
          'use_sim_time':use_sim_time,
          'subscribe_rgbd':True,
          'subscribe_scan':True,
+          # RTAB-Map's parameters should be strings:
          'Reg/Strategy':'1',
-          'RGBD/NeighborLinkRefining':'True'}]
+          'RGBD/NeighborLinkRefining':'True',
+          'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
+    }]

    remappings=[
          ('rgb/image', '/intel_realsense_r200_depth/image_raw'),