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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/k4a.launch.py
+4 -4
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@@ -3,7 +3,7 @@
# Install Azure_Kinect_ROS_Driver ros2 package (https://github.com/microsoft/Azure_Kinect_ROS_Driver/tree/humble)
# Install imu_filter_madgwick ros2 package
# Example:
# $ ros2 launch rtabmap_ros k4a.launch.py
# $ ros2 launch rtabmap_examples k4a.launch.py
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -30,7 +30,7 @@ def generate_launch_description():
# Visual odometry node
Node(
package='rtabmap_ros', executable='rgbd_odometry', output='screen',
package='rtabmap_odom', executable='rgbd_odometry', output='screen',
parameters=[{ 'frame_id':'camera_base',
'subscribe_odom_info':True,
'approx_sync':True,
@@ -46,14 +46,14 @@ def generate_launch_description():
# SLAM node
Node(
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=parameters,
remappings=remappings,
arguments=['-d']),
# Visualization node
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=parameters,
remappings=remappings),