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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_d435i_infra.launch.py
+4 -4
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@@ -5,7 +5,7 @@
# $ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=1 enable_infra1:=true enable_infra2:=true enable_sync:=true
# $ ros2 param set /camera/camera depth_module.emitter_enabled 0
#
# $ ros2 launch rtabmap_ros realsense_d435i_infra.launch.py
# $ ros2 launch rtabmap_examples realsense_d435i_infra.launch.py
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -30,18 +30,18 @@ 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),