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Updated launch files with split packages

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This commit is contained in:
matlabbe
2023-02-26 18:05:08 -08:00
parent 66e727e1a4
commit 1a421cf5a5
16 changed files with 154 additions and 65 deletions
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rtabmap_demos/launch/turtlebot3_rgbd.launch.py
+7 -6
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@@ -1,7 +1,7 @@
# Requirements:
# Install Turtlebot3 packages
# Modify turtlebot3_waffle SDF:
# 1) Edit turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
# 1) Edit /opt/ros/$ROS_DISTRO/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
# 2) Add
# <joint name="camera_rgb_optical_joint" type="fixed">
# <parent>camera_rgb_frame</parent>
@@ -22,9 +22,10 @@
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
#
# SLAM:
# $ ros2 launch rtabmap_ros turtlebot3_rgbd.launch.py
# $ ros2 launch rtabmap_demos turtlebot3_rgbd.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info approx_sync:=true qos:=2
# $ ros2 launch rtabmap_launch rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info approx_sync:=true qos:=2
# $ ros2 run topic_tools relay /rtabmap/map /map
#
# Navigation (install nav2_bringup package):
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
@@ -81,7 +82,7 @@ def generate_launch_description():
# SLAM mode:
Node(
condition=UnlessCondition(localization),
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters],
remappings=remappings,
arguments=['-d']), # This will delete the previous database (~/.ros/rtabmap.db)
@@ -89,14 +90,14 @@ def generate_launch_description():
# Localization mode:
Node(
condition=IfCondition(localization),
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters,
{'Mem/IncrementalMemory':'False',
'Mem/InitWMWithAllNodes':'True'}],
remappings=remappings),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=[parameters],
remappings=remappings),
])
rtabmap_demos/launch/turtlebot3_rgbd_sync.launch.py
+8 -7
View File
@@ -1,7 +1,7 @@
# Requirements:
# Install Turtlebot3 packages
# Modify turtlebot3_waffle SDF:
# 1) Edit turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
# 1) Edit /opt/ros/$ROS_DISTRO/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
# 2) Add
# <joint name="camera_rgb_optical_joint" type="fixed">
# <parent>camera_rgb_frame</parent>
@@ -22,9 +22,10 @@
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
#
# SLAM:
# $ ros2 launch rtabmap_ros turtlebot3_rgbd_sync.launch.py
# $ ros2 launch rtabmap_demos turtlebot3_rgbd_sync.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true approx_sync:=true approx_rgbd_sync:=false odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1 --Reg/Force3DoF true --Grid/RangeMin 0.2" use_sim_time:=true rgbd_sync:=true rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info qos:=2
# $ ros2 launch rtabmap_launch rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true approx_sync:=true approx_rgbd_sync:=false odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1 --Reg/Force3DoF true --Grid/RangeMin 0.2" use_sim_time:=true rgbd_sync:=true rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info qos:=2
# $ ros2 run topic_tools relay /rtabmap/map /map
#
# Navigation (install nav2_bringup package):
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
@@ -85,14 +86,14 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='rgbd_sync', output='screen',
package='rtabmap_sync', executable='rgbd_sync', output='screen',
parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time, 'qos':qos}],
remappings=remappings),
# SLAM Mode:
Node(
condition=UnlessCondition(localization),
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters],
remappings=remappings,
arguments=['-d']),
@@ -100,14 +101,14 @@ def generate_launch_description():
# Localization mode:
Node(
condition=IfCondition(localization),
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters,
{'Mem/IncrementalMemory':'False',
'Mem/InitWMWithAllNodes':'True'}],
remappings=remappings),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=[parameters],
remappings=remappings),
])
rtabmap_demos/launch/turtlebot3_scan.launch.py
+7 -6
View File
@@ -1,6 +1,6 @@
# Requirements:
# Install Turtlebot3 packages
# Note that we can edit turtlebot3_gazebo/models/turtlebot_waffle/model.sdf
# Note that we can edit /opt/ros/$ROS_DISTRO/share/turtlebot3_gazebo/models/turtlebot_waffle/model.sdf
# to increase min scan range from 0.12 to 0.2 to avoid having scans
# hitting the robot itself
# Example:
@@ -8,9 +8,10 @@
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
#
# SLAM:
# $ ros2 launch rtabmap_ros turtlebot3_scan.launch.py
# $ ros2 launch rtabmap_demos turtlebot3_scan.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1 --Reg/Force3DoF true --Grid/RangeMin 0.2" use_sim_time:=true qos:=2
# $ ros2 launch rtabmap_launch rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1 --Reg/Force3DoF true --Grid/RangeMin 0.2" use_sim_time:=true qos:=2
# $ ros2 run topic_tools relay /rtabmap/map /map
#
# Navigation (install nav2_bringup package):
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
@@ -71,7 +72,7 @@ def generate_launch_description():
# SLAM mode:
Node(
condition=UnlessCondition(localization),
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters],
remappings=remappings,
arguments=['-d']), # This will delete the previous database (~/.ros/rtabmap.db)
@@ -79,14 +80,14 @@ def generate_launch_description():
# Localization mode:
Node(
condition=IfCondition(localization),
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters,
{'Mem/IncrementalMemory':'False',
'Mem/InitWMWithAllNodes':'True'}],
remappings=remappings),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=[parameters],
remappings=remappings),
])
rtabmap_demos/package.xml
+2
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@@ -17,6 +17,8 @@
<exec_depend>rtabmap_util</exec_depend>
<exec_depend>rtabmap_rviz_plugins</exec_depend>
<exec_depend>rtabmap_viz</exec_depend>
<exec_depend>turtlebot3</exec_depend>
<exec_depend>nav2_bringup</exec_depend>
<export>
<build_type>ament_cmake</build_type>