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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/vlp16.launch.py
+5 -5
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@@ -3,7 +3,7 @@
# $ ros2 launch velodyne_pointcloud velodyne_transform_node-VLP16-launch.py
#
# SLAM:
# $ ros2 launch rtabmap_ros vlp16.launch.py
# $ ros2 launch rtabmap_examples vlp16.launch.py
from launch import LaunchDescription
@@ -29,7 +29,7 @@ def generate_launch_description():
# Nodes to launch
Node(
package='rtabmap_ros', executable='icp_odometry', output='screen',
package='rtabmap_odom', executable='icp_odometry', output='screen',
parameters=[{
'frame_id':'velodyne',
'odom_frame_id':'odom',
@@ -60,7 +60,7 @@ def generate_launch_description():
]),
Node(
package='rtabmap_ros', executable='point_cloud_assembler', output='screen',
package='rtabmap_util', executable='point_cloud_assembler', output='screen',
parameters=[{
'max_clouds':10,
'fixed_frame_id':'',
@@ -71,7 +71,7 @@ def generate_launch_description():
]),
Node(
package='rtabmap_ros', executable='rtabmap', output='screen',
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[{
'frame_id':'velodyne',
'subscribe_depth':False,
@@ -109,7 +109,7 @@ def generate_launch_description():
]),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
parameters=[{
'frame_id':'velodyne',
'odom_frame_id':'odom',