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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/realsense_d400.launch.py
+5 -5
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@@ -4,9 +4,9 @@
# Example:
# $ ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
#
# $ ros2 launch rtabmap_ros realsense_d400.launch.py
# $ ros2 launch rtabmap_examples realsense_d400.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py frame_id:=camera_link args:="-d" rgb_topic:=/camera/color/image_raw depth_topic:=/camera/aligned_depth_to_color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false
# $ ros2 launch rtabmap_launch rtabmap.launch.py frame_id:=camera_link args:="-d" rgb_topic:=/camera/color/image_raw depth_topic:=/camera/aligned_depth_to_color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -29,18 +29,18 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='rgbd_odometry', output='screen',
package='rtabmap_odom', executable='rgbd_odometry', output='screen',
parameters=parameters,
remappings=remappings),
Node(
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),
])