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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_sync.launch.py
+8 -7
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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_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),
])