i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

husky lidar3d demo: added option to disable camera

Browse Source
This commit is contained in:
matlabbe
2025-06-07 17:06:02 -07:00
parent aa1e17b1c1
commit 2d270e9c3c
2 changed files with 13 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_demos/launch/husky/husky_sim_scan3d_demo.launch.py
+3
View File
@@ -43,6 +43,8 @@ ARGUMENTS = [
description='Ignition World'), description='Ignition World'),
DeclareLaunchArgument('robot_ns', default_value='a200_0000', DeclareLaunchArgument('robot_ns', default_value='a200_0000',
description='Robot namespace'), description='Robot namespace'),
DeclareLaunchArgument('use_camera', default_value='true',
description='Use camera for global loop closure / re-localization.'),
] ]
def generate_launch_description(): def generate_launch_description():
@@ -86,6 +88,7 @@ def generate_launch_description():
('rtabmap_viz', LaunchConfiguration('rtabmap_viz')), ('rtabmap_viz', LaunchConfiguration('rtabmap_viz')),
('localization', LaunchConfiguration('localization')), ('localization', LaunchConfiguration('localization')),
('use_sim_time', 'true'), ('use_sim_time', 'true'),
('use_camera', LaunchConfiguration('use_camera')),
('robot_ns', LaunchConfiguration('robot_ns')) ('robot_ns', LaunchConfiguration('robot_ns'))
] ]
) )
rtabmap_demos/launch/husky/husky_slam3d.launch.py
+10 -2
View File
@@ -34,6 +34,7 @@ def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time') use_sim_time = LaunchConfiguration('use_sim_time')
localization = LaunchConfiguration('localization') localization = LaunchConfiguration('localization')
robot_ns = LaunchConfiguration('robot_ns') robot_ns = LaunchConfiguration('robot_ns')
use_camera = LaunchConfiguration('use_camera')
icp_odom_parameters={ icp_odom_parameters={
'odom_frame_id':'icp_odom', 'odom_frame_id':'icp_odom',
@@ -43,7 +44,9 @@ def generate_launch_description():
} }
rtabmap_parameters={ rtabmap_parameters={
'subscribe_rgbd':True, 'subscribe_rgb':False,
'subscribe_depth':False,
'subscribe_rgbd': use_camera,
'subscribe_scan_cloud':True, 'subscribe_scan_cloud':True,
'use_action_for_goal':True, 'use_action_for_goal':True,
'odom_sensor_sync': True, 'odom_sensor_sync': True,
@@ -88,7 +91,7 @@ def generate_launch_description():
DeclareLaunchArgument( DeclareLaunchArgument(
'use_sim_time', default_value='false', choices=['true', 'false'], 'use_sim_time', default_value='false', choices=['true', 'false'],
description='Use simulation (Gazebo) clock if true'), description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument( DeclareLaunchArgument(
'localization', default_value='false', choices=['true', 'false'], 'localization', default_value='false', choices=['true', 'false'],
description='Launch rtabmap in localization mode (a map should have been already created).'), description='Launch rtabmap in localization mode (a map should have been already created).'),
@@ -97,8 +100,13 @@ def generate_launch_description():
'robot_ns', default_value='a200_0000', 'robot_ns', default_value='a200_0000',
description='Robot namespace.'), description='Robot namespace.'),
DeclareLaunchArgument(
'use_camera', default_value='true',
description='Use camera for global loop closure / re-localization.'),
# Nodes to launch # Nodes to launch
Node( Node(
condition=IfCondition(use_camera),
package='rtabmap_sync', executable='rgbd_sync', output='screen', package='rtabmap_sync', executable='rgbd_sync', output='screen',
namespace=robot_ns, namespace=robot_ns,
parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time}], parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time}],