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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/rgbdslam_datasets.launch.py
+4 -4
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@@ -11,7 +11,7 @@
# $ sudo pip install rosbags # See https://docs.openvins.com/dev-ros1-to-ros2.html
# $ rosbags-convert rgbd_dataset_freiburg3_long_office_household_frameid_fixed.bag
# $ ros2 launch rtabmap_ros rgbdslam_datasets.launch.py
# $ ros2 launch rtabmap_examples rgbdslam_datasets.launch.py
# $ cd rgbd_dataset_freiburg3_long_office_household_frameid_fixed
# $ ros2 bag play rgbd_dataset_freiburg3_long_office_household_frameid_fixed.db3 --clock
@@ -51,18 +51,18 @@ 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),