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Updated turtlebot4 demo to be more robust to long corridors

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This commit is contained in:
matlabbe
2024-06-30 12:09:06 -07:00
parent bed3081435
commit 304636527e
2 changed files with 14 additions and 7 deletions
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rtabmap_demos/launch/turtlebot4_ignition_demo.launch.py
+6 -3
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@@ -10,10 +10,13 @@
# #
# 3) Click on double points ".." button on top-right next to power button to undock. # 3) Click on double points ".." button on top-right next to power button to undock.
# #
# 4) Teleop the robot: # 4) Move the robot:
# $ ros2 run teleop_twist_keyboard teleop_twist_keyboard # b) By sending goals with RVIZ's "Nav2 Goal" button in action bar.
# a) By teleoperating:
# $ ros2 run teleop_twist_keyboard teleop_twist_keyboard
# c) By using autonomous exploration node (tested with https://github.com/robo-friends/m-explore-ros2):
# $ ros2 launch explore_lite explore.launch.py
# #
# 5) Send goals with RVIZ's "Nav2 Goal" button in action bar.
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
rtabmap_demos/launch/turtlebot4_slam.launch.py
+8 -4
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@@ -15,10 +15,13 @@
# #
# 4) Click on double points ".." button on top-right next to power button to undock. # 4) Click on double points ".." button on top-right next to power button to undock.
# #
# 5) Teleop the robot: # 5) Move the robot:
# $ ros2 run teleop_twist_keyboard teleop_twist_keyboard # b) By sending goals with RVIZ's "Nav2 Goal" button in action bar.
# a) By teleoperating:
# $ ros2 run teleop_twist_keyboard teleop_twist_keyboard
# c) By using autonomous exploration node (tested with https://github.com/robo-friends/m-explore-ros2):
# $ ros2 launch explore_lite explore.launch.py
# #
# 6) Send goals with RVIZ's "Nav2 Goal" button in action bar:
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -58,7 +61,8 @@ def generate_launch_description():
# RTAB-Map's parameters should be strings: # RTAB-Map's parameters should be strings:
'Reg/Strategy':'1', 'Reg/Strategy':'1',
'Reg/Force3DoF':'true', 'Reg/Force3DoF':'true',
'Mem/NotLinkedNodesKept':'false' 'Mem/NotLinkedNodesKept':'false',
'Icp/PointToPlaneMinComplexity':'0.04' # to be more robust to long corridors with low geometry
} }
remappings=[ remappings=[