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Updated launch files with split packages

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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_examples/launch/euroc_datasets.launch.py
+11 -11
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@@ -4,11 +4,11 @@
# $ rosbags-convert V1_01_easy.bag
# $ rosbags-convert MH_01_easy.bag
#
# $ ros2 launch rtabmap_ros euroc_datasets.launch.py gt:=true
# $ ros2 launch rtabmap_examples euroc_datasets.launch.py gt:=true
# $ cd V1_01_easy
# $ ros2 bag play V1_01_easy.db3 --clock
#
# $ ros2 launch rtabmap_ros euroc_datasets.launch.py gt:=false
# $ ros2 launch rtabmap_examples euroc_datasets.launch.py gt:=false
# $ cd MH_01_easy
# $ ros2 bag play MH_01_easy.db3 --clock
@@ -61,13 +61,13 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='stereo_odometry', output='screen',
package='rtabmap_odom', executable='stereo_odometry', output='screen',
parameters=[parameters],
remappings=remappings),
Node(
condition=IfCondition(ground_truth),
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters,
{ 'ground_truth_frame_id':'world',
'ground_truth_base_frame_id':'base_link_gt'}],
@@ -75,28 +75,28 @@ def generate_launch_description():
arguments=['-d']),
Node(
condition=UnlessCondition(ground_truth),
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[parameters],
remappings=remappings,
arguments=['-d']),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=[parameters],
remappings=remappings),
# Image rectification and publishing synchronized camera_info
Node(
package='rtabmap_ros', executable='yaml_to_camera_info.py', output='screen',
parameters=[{'yaml_path': [FindPackageShare('rtabmap_ros'), '/launch/calibration/euroc_left.yaml']}],
package='rtabmap_util', executable='yaml_to_camera_info.py', output='screen',
parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), '/launch/calibration/euroc_left.yaml']}],
remappings=[
('image', '/cam0/image_raw'),
('camera_info', 'left/camera_info')],
namespace='stereo_camera'),
Node(
package='rtabmap_ros', executable='yaml_to_camera_info.py', output='screen',
parameters=[{'yaml_path': [FindPackageShare('rtabmap_ros'), '/launch/calibration/euroc_right.yaml']}],
package='rtabmap_util', executable='yaml_to_camera_info.py', output='screen',
parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), '/launch/calibration/euroc_right.yaml']}],
remappings=[
('image', '/cam1/image_raw'),
('camera_info', 'right/camera_info')],
@@ -138,7 +138,7 @@ def generate_launch_description():
arguments=['0', '0', '0', '0', '0', '0', 'world', 'map']),
Node(
package='rtabmap_ros', executable='transform_to_tf.py', output='screen',
package='rtabmap_util', executable='transform_to_tf.py', output='screen',
parameters=[{'frame_id': 'world', 'child_frame_id': 'vicon/firefly_sbx/firefly_sbx'}],
remappings=[('transform', '/vicon/firefly_sbx/firefly_sbx')]),
])