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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_scan.launch.py
+7 -6
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@@ -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),
])