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Merged master->ros2. Updated turtlebot3 RGB-D examples (added instructions to add depth camera instead of copying sdf from another project)

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matlabbe
2022-01-29 18:01:08 -05:00
parent 0d7529332b 62b1058218
commit 324a0fe49a
18 changed files with 906 additions and 45 deletions
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README.md
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@@ -80,4 +80,11 @@ $ ros2 launch rtabmap_ros rtabmap.launch.py \
args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" \
use_sim_time:=true
```
3. Launch navigation (`nav2_bringup` package should be installed):
```
$ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
$ ros2 launch nav2_bringup rviz_launch.py
```
See [launch/ros2](https://github.com/introlab/rtabmap_ros/tree/ros2/launch/ros2) subfolder for some other ROS2 examples with turtlebot3 in simulation and a RGB-D camera.