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Plumbing env_sensor topic to rtabmap

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matlabbe
2025-11-11 23:56:08 +00:00
parent 515eb50d83
commit 2f258bdae0
7 changed files with 102 additions and 18 deletions
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rtabmap_launch/launch/rtabmap.launch
+3
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@@ -153,6 +153,8 @@
<arg name="tag_angular_variance" default="9999" /> <!-- >=9999 means ignore rotation in optimization, when rotation estimation of the tag is not reliable -->
<arg name="fiducial_topic" default="/fiducial_transforms" /> <!-- aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covriance -->
<arg name="env_sensor_topic" default="/env_sensor"/> <!-- rtabmap_msgs/EnvSensor subscription -->
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
@@ -421,6 +423,7 @@
<remap from="gps/fix" to="$(arg gps_topic)"/>
<remap from="tag_detections" to="$(arg tag_topic)"/>
<remap from="fiducial_transforms" to="$(arg fiducial_topic)"/>
<remap from="env_sensor" to="$(arg env_sensor_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>