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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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launch/ros2/turtlebot3_scan.launch.py
+5 -1
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@@ -1,5 +1,8 @@
# Requirements:
# Install Turtlebot3 packages
# Note that we can edit turtlebot3_gazebo/models/turtlebot_waffle/model.sdf
# to increase min scan range from 0.12 to 0.2 to avoid having scans
# hitting the robot itself
# Example:
# $ export TURTLEBOT3_MODEL=waffle
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
@@ -7,7 +10,7 @@
# SLAM:
# $ ros2 launch rtabmap_ros turtlebot3_scan.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" use_sim_time:=true
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1 --Reg/Force3DoF true --Grid/RangeMin 0.2" use_sim_time:=true
#
# Navigation (install nav2_bringup package):
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
@@ -41,6 +44,7 @@ def generate_launch_description():
'Reg/Strategy':'1',
'Reg/Force3DoF':'true',
'RGBD/NeighborLinkRefining':'True',
'Grid/RangeMin':'0.2', # ignore laser scan points on the robot itself
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
}