ROS2 various QOL updates (preparing new binary release) (#1225)

* Updating examples and README

* updated main readme

* odom: Added always_check_imu_tf parameter. sync: increased default sync_queue_size from 2 to 5 (to be more flexible to different hardware), added input and output diagnostics. rtabmap_viz: fixed node with same name redeclared warning.

* update readme

* Added husky demo

* converted demo_robot_mapping.launch to ros2

* Converted stereo_outdoor demo from ros1 to ros2

* Converted multi-session demo to ros2

* Converted demo_find_object launch to ros2

* renamed files

* uniformized default qos, increased sync_queue_size default to 10

* Added vlp16 + imu example

* Added husky 3D lidar demos

* moved demos in subdir

* Added vlp16+zed example

* rtabmap_viz: ignore odom update if tf not ready when not using topic (to avoid showing red screen). Added champ VSLAM demo.

* forwarded camera_model arg for zed examples, removed qos for turtlebot4 demo

* pointcloud_to_depthimage: added more error logs, removed output camera_info published twice and match ros1 namespaces

* Created two base general examples for 3D lidar usage, then create hardware specific examples on top of them.

* Added isaac sim demo

* Final update of all demos. Fixed MapCloud rviz plugin crashing when floor/ceiling filtering is used and resulting cloud is empty.

* Fixed 2d scan deskewing output frame, moved nav2 params under "params" folder, added number of topics processed/dropped for odometry, added icp_odometry option for turtlebot3 scan-only demo.

* rtabmap_demos: added README with examples

* Added TOC

* bump version to 0.21.9

rtabmap_examples/launch/config/euroc_left.yaml

@@ -1,30 +0,0 @@
-#%YAML:1.0
----
-camera_name: MH_01_easy_left
-image_width: 752
-image_height: 480
-camera_matrix:
-   rows: 3
-   cols: 3
-   data: [ 4.5865400000000000e+02, 0., 3.6721499999999997e+02, 0.,
-       4.5729599999999999e+02, 2.4837500000000000e+02, 0., 0., 1. ]
-distortion_coefficients:
-   rows: 1
-   cols: 4
-   data: [ -2.8340810999999999e-01, 7.3959070000000002e-02,
-       1.9358999999999999e-04, 1.7618711400000001e-05 ]
-distortion_model: plumb_bob
-rectification_matrix:
-   rows: 3
-   cols: 3
-   data: [ 9.9996634750298619e-01, -1.4227432298321767e-03,
-       8.0795831104762770e-03, 1.3657459036274155e-03,
-       9.9997417608074302e-01, 7.0556296505566432e-03,
-       -8.0894128132919258e-03, -7.0443575534647465e-03,
-       9.9994246755850658e-01 ]
-projection_matrix:
-   rows: 3
-   cols: 4
-   data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02, 0., 0.,
-       4.3520469597145990e+02, 2.5220085144042969e+02, 0., 0., 0., 1.,
-       0. ]

rtabmap_examples/launch/config/euroc_right.yaml

@@ -1,30 +0,0 @@
-#%YAML:1.0
----
-camera_name: MH_01_easy_right
-image_width: 752
-image_height: 480
-camera_matrix:
-   rows: 3
-   cols: 3
-   data: [ 4.5758699999999999e+02, 0., 3.7999900000000002e+02, 0.,
-       4.5613400000000001e+02, 2.5523800000000000e+02, 0., 0., 1. ]
-distortion_coefficients:
-   rows: 1
-   cols: 4
-   data: [ -2.8368365000000001e-01, 7.4512839999999997e-02,
-       -1.0473000000000000e-04, -3.5559070000000001e-05 ]
-distortion_model: plumb_bob
-rectification_matrix:
-   rows: 3
-   cols: 3
-   data: [ 9.9996335257946345e-01, -3.6258159819210472e-03,
-       7.7554468926514068e-03, 3.6804026836554193e-03,
-       9.9996847525904631e-01, -7.0358456623254633e-03,
-       -7.7296917225483383e-03, 7.0641309842873097e-03,
-       9.9994517345668066e-01 ]
-projection_matrix:
-   rows: 3
-   cols: 4
-   data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02,
-       -4.7906395664848930e+01, 0., 4.3520469597145990e+02,
-       2.5220085144042969e+02, 0., 0., 0., 1., 0. ]

rtabmap_examples/launch/config/slam_D405x2_config.rviz

@@ -1,434 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /TF1/Frames1
-        - /TF1/Tree1
-      Splitter Ratio: 0.5340050458908081
-    Tree Height: 413
-  - Class: rviz_common/Selection
-    Name: Selection
-  - Class: rviz_common/Tool Properties
-    Expanded:
-      - /2D Goal Pose1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz_common/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz_common/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: MapCloud
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz_default_plugins/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2 Vorne
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera1/depth/color/points
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2 Oben
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera2/depth/color/points
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Class: rviz_default_plugins/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        base_link:
-          Value: true
-        camera1_color_frame:
-          Value: true
-        camera1_color_optical_frame:
-          Value: true
-        camera1_depth_frame:
-          Value: true
-        camera1_depth_optical_frame:
-          Value: true
-        camera1_link:
-          Value: true
-        camera2_color_frame:
-          Value: true
-        camera2_color_optical_frame:
-          Value: true
-        camera2_depth_frame:
-          Value: true
-        camera2_depth_optical_frame:
-          Value: true
-        camera2_link:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          odom:
-            base_link:
-              camera1_link:
-                camera1_color_frame:
-                  camera1_color_optical_frame:
-                    {}
-                camera1_depth_frame:
-                  camera1_depth_optical_frame:
-                    {}
-              camera2_link:
-                camera2_color_frame:
-                  camera2_color_optical_frame:
-                    {}
-                camera2_depth_frame:
-                  camera2_depth_optical_frame:
-                    {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rtabmap_rviz_plugins/MapCloud
-      Cloud decimation: 4
-      Cloud from scan: false
-      Cloud max depth (m): 4
-      Cloud min depth (m): 0
-      Cloud voxel size (m): 0.009999999776482582
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Download namespace: rtabmap
-      Enabled: true
-      Filter ceiling (m): 0
-      Filter floor (m): 0
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 30
-      Node filtering radius (m): 0
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /rtabmap/mapData
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Camera1 Cloud
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /voxel_cloud1
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Camera2 Cloud
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /voxel_cloud2
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Class: rviz_default_plugins/Image
-      Enabled: true
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera1/color/image_rect_raw
-      Value: true
-    - Class: rviz_default_plugins/Image
-      Enabled: true
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera2/color/image_rect_raw
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /rtabmap/odom_local_map
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-      Line color: 128; 128; 0
-    - Class: rviz_default_plugins/SetInitialPose
-      Covariance x: 0.25
-      Covariance y: 0.25
-      Covariance yaw: 0.06853891909122467
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /initialpose
-    - Class: rviz_default_plugins/SetGoal
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /goal_pose
-    - Class: rviz_default_plugins/PublishPoint
-      Single click: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /clicked_point
-  Transformation:
-    Current:
-      Class: rviz_default_plugins/TF
-  Value: true
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Distance: 3.691277027130127
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: -0.1845460832118988
-        Y: 1.409915566444397
-        Z: 0.6871283054351807
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.13479618728160858
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 1.8135828971862793
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1136
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000018f000003d2fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000228000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000026b000000d10000002800fffffffb0000000a0049006d0061006700650100000342000000cd0000002800ffffff000000010000010f000003d2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003d2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000048c000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1846
-  X: 1994
-  Y: 27

rtabmap_examples/launch/config/slam_D405x3_config.rviz

@@ -1,538 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /TF1/Frames1
-      Splitter Ratio: 0.5340050458908081
-    Tree Height: 308
-  - Class: rviz_common/Selection
-    Name: Selection
-  - Class: rviz_common/Tool Properties
-    Expanded:
-      - /2D Goal Pose1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz_common/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz_common/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: PointCloud2 Vorne
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz_default_plugins/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2 Vorne
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera/depth/color/points
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2 Oben
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera1/depth/color/points
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2 Unten
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera2/depth/color/points
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Class: rviz_default_plugins/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        base_link:
-          Value: true
-        camera1_color_frame:
-          Value: true
-        camera1_color_optical_frame:
-          Value: true
-        camera1_depth_frame:
-          Value: true
-        camera1_depth_optical_frame:
-          Value: true
-        camera1_link:
-          Value: true
-        camera2_color_frame:
-          Value: true
-        camera2_color_optical_frame:
-          Value: true
-        camera2_depth_frame:
-          Value: true
-        camera2_depth_optical_frame:
-          Value: true
-        camera2_link:
-          Value: true
-        camera_color_frame:
-          Value: true
-        camera_color_optical_frame:
-          Value: true
-        camera_depth_frame:
-          Value: true
-        camera_depth_optical_frame:
-          Value: true
-        camera_link:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          {}
-        odom:
-          base_link:
-            camera1_link:
-              camera1_color_frame:
-                camera1_color_optical_frame:
-                  {}
-              camera1_depth_frame:
-                camera1_depth_optical_frame:
-                  {}
-            camera2_link:
-              camera2_color_frame:
-                camera2_color_optical_frame:
-                  {}
-              camera2_depth_frame:
-                camera2_depth_optical_frame:
-                  {}
-            camera_link:
-              camera_color_frame:
-                camera_color_optical_frame:
-                  {}
-              camera_depth_frame:
-                camera_depth_optical_frame:
-                  {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rtabmap_rviz_plugins/MapCloud
-      Cloud decimation: 4
-      Cloud from scan: false
-      Cloud max depth (m): 4
-      Cloud min depth (m): 0
-      Cloud voxel size (m): 0.009999999776482582
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Download graph: false
-      Download map: false
-      Download namespace: rtabmap
-      Enabled: true
-      Filter ceiling (m): 0
-      Filter floor (m): 0
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: MapCloud
-      Node filtering angle (degrees): 30
-      Node filtering radius (m): 0
-      Position Transformer: XYZ
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /rtabmap/mapData
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Vorne Cloud
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /voxel_cloud1
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Oben Cloud
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /voxel_cloud2
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Unten Cloud
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /voxel_cloud3
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Class: rviz_default_plugins/Image
-      Enabled: true
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Img Vorne
-      Normalize Range: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera/color/image_rect_raw
-      Value: true
-    - Class: rviz_default_plugins/Image
-      Enabled: true
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Img Oben
-      Normalize Range: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera1/color/image_rect_raw
-      Value: true
-    - Class: rviz_default_plugins/Image
-      Enabled: true
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Img Unten
-      Normalize Range: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera2/color/image_rect_raw
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Odom Local Map Vorne
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Flat Squares
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /rtabmap/odom_local_map
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-      Line color: 128; 128; 0
-    - Class: rviz_default_plugins/SetInitialPose
-      Covariance x: 0.25
-      Covariance y: 0.25
-      Covariance yaw: 0.06853891909122467
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /initialpose
-    - Class: rviz_default_plugins/SetGoal
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /goal_pose
-    - Class: rviz_default_plugins/PublishPoint
-      Single click: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /clicked_point
-  Transformation:
-    Current:
-      Class: rviz_default_plugins/TF
-  Value: true
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Distance: 14.454187393188477
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: -0.5812196135520935
-        Y: 1.577770709991455
-        Z: 0.7642305493354797
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.21979624032974243
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 1.493584394454956
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1163
-  Hide Left Dock: false
-  Hide Right Dock: false
-  Img Oben:
-    collapsed: false
-  Img Unten:
-    collapsed: false
-  Img Vorne:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000018f000003edfc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001bf000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000120049006d006700200056006f00720065006e010000022e000000800000000000000000fb000000120049006d006700200056006f0072006e00650100000202000000930000002800fffffffb000000100049006d00670020004f00620065006e010000029b000000bb0000002800fffffffb000000120049006d006700200055006e00740065006e010000035c000000ce0000002800ffffff000000010000010f000003edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003ed000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004d6000003ed00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1920
-  X: 1920
-  Y: 0

rtabmap_examples/launch/euroc_datasets.launch.py

@@ -88,7 +88,7 @@ def generate_launch_description():
         # Image rectification and publishing synchronized camera_info
         Node(
             package='rtabmap_util', executable='yaml_to_camera_info.py', output='screen',
-            parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), '/launch/config/euroc_left.yaml']}],
+            parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), '/config/euroc_left.yaml']}],
             remappings=[
               ('image', '/cam0/image_raw'),
               ('camera_info', 'left/camera_info')],
@@ -96,7 +96,7 @@ def generate_launch_description():
               
         Node(
             package='rtabmap_util', executable='yaml_to_camera_info.py', output='screen',
-            parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), '/launch/config/euroc_right.yaml']}],
+            parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), '/config/euroc_right.yaml']}],
             remappings=[
               ('image', '/cam1/image_raw'),
               ('camera_info', 'right/camera_info')],

rtabmap_examples/launch/k4a.launch.py

@@ -1,21 +1,20 @@
 # Requirements:
 #   A Kinect for Azure
 #   Install Azure_Kinect_ROS_Driver ros2 package (https://github.com/microsoft/Azure_Kinect_ROS_Driver/tree/humble)
+#   To install Kinect SDK on Ubuntu 22.04, see https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1790#issuecomment-1531626651
+#   udev rules: https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/5f79890933e1c81e325633152b2f2799df825b8b/docs/usage.md#linux-device-setup
 #   Install imu_filter_madgwick ros2 package
 # Example:
 #   $ ros2 launch rtabmap_examples k4a.launch.py
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
-from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 def generate_launch_description():
     parameters=[{
           'frame_id':'camera_base',
           'subscribe_rgbd':True,
-          'subscribe_odom_info':True,
-          'qos':1}]
+          'subscribe_odom_info':True}]
 
     remappings=[
           ('imu', '/imu/data'),
@@ -32,11 +31,9 @@ def generate_launch_description():
         Node(
             package='rtabmap_odom', executable='rgbd_odometry', output='screen',
             parameters=[{ 'frame_id':'camera_base',
-                          'subscribe_odom_info':True,
                           'approx_sync':True,
                           'approx_sync_max_interval':0.01,
                           'wait_imu_to_init':True,
-                          'qos':1,
                           'queue_size':30,
                           'keep_color':True,
                           # Color image needs to be rectified, 

rtabmap_examples/launch/kinect_xbox_360.launch.py

@@ -12,8 +12,7 @@ def generate_launch_description():
           'frame_id':'camera_link',
           'subscribe_depth':True,
           'subscribe_odom_info':True,
-          'approx_sync':True,
-          'qos':1}]
+          'approx_sync':True}]
 
     remappings=[
           ('rgb/image', '/kinect/rgb/image_raw'),

rtabmap_examples/launch/lidar3d.launch.py

@@ -0,0 +1,220 @@
+# Description:
+#   In this example, we keep only minimal data to do LiDAR SLAM.
+#
+# Example:
+#   Launch your lidar sensor:
+#   $ ros2 launch velodyne_driver velodyne_driver_node-VLP16-launch.py
+#   $ ros2 launch velodyne_pointcloud velodyne_transform_node-VLP16-launch.py
+#
+#   If an IMU is used, make sure TF between lidar/base frame and imu is
+#     already calibrated. In this example, we assume the imu topic has 
+#     already the orientation estimated, it not, you can use 
+#     imu_filter_madgwick_node (with use_mag:=false publish_tf:=false)
+#     and set imu_topic to output topic of the filter.
+#
+#   If a camera is used, make sure TF between lidar/base frame and camera is
+#     already calibrated. To provide image data to this example, you should use
+#     rtabmap_sync's rgbd_sync or stereo_sync node.
+#
+#   Launch the example by adjusting the lidar topic and base frame:
+#   $ ros2 launch rtabmap_examples lidar3d.launch.py lidar_topic:=/velodyne_points frame_id:=velodyne
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def launch_setup(context: LaunchContext, *args, **kwargs):
+  
+  frame_id = LaunchConfiguration('frame_id')
+  
+  imu_topic = LaunchConfiguration('imu_topic')
+  imu_used =  imu_topic.perform(context) != ''
+  
+  rgbd_image_topic = LaunchConfiguration('rgbd_image_topic')
+  rgbd_image_used =  rgbd_image_topic.perform(context) != ''
+  
+  voxel_size = LaunchConfiguration('voxel_size')
+  voxel_size_value = float(voxel_size.perform(context))
+  
+  use_sim_time = LaunchConfiguration('use_sim_time')
+  
+  lidar_topic = LaunchConfiguration('lidar_topic')
+  lidar_topic_value = lidar_topic.perform(context)
+  lidar_topic_deskewed = lidar_topic_value + "/deskewed"
+  
+  localization = LaunchConfiguration('localization').perform(context)
+  localization = localization == 'true' or localization == 'True'
+  
+  fixed_frame_from_imu = False
+  fixed_frame_id =  LaunchConfiguration('fixed_frame_id').perform(context)
+  if not fixed_frame_id and imu_used:
+    fixed_frame_from_imu = True
+    fixed_frame_id = frame_id.perform(context) + "_stabilized"
+  
+  if not fixed_frame_id:
+    lidar_topic_deskewed = lidar_topic
+  
+  # Rule of thumb:
+  max_correspondence_distance = voxel_size_value * 10.0
+
+  shared_parameters = {
+    'use_sim_time': use_sim_time,
+    'frame_id': frame_id,
+    'qos': LaunchConfiguration('qos'),
+    'approx_sync': rgbd_image_used,
+    'wait_for_transform': 0.2,
+    # RTAB-Map's internal parameters are strings:
+    'Icp/PointToPlane': 'true',
+    'Icp/Iterations': '10',
+    'Icp/VoxelSize': str(voxel_size_value),
+    'Icp/Epsilon': '0.001',
+    'Icp/PointToPlaneK': '20',
+    'Icp/PointToPlaneRadius': '0',
+    'Icp/MaxTranslation': '3',
+    'Icp/MaxCorrespondenceDistance': str(max_correspondence_distance),
+    'Icp/Strategy': '1',
+    'Icp/OutlierRatio': '0.7',
+  }
+  
+  icp_odometry_parameters = {
+    'expected_update_rate': 15.0,
+    'deskewing': not fixed_frame_id, # If fixed_frame_id is set, we do deskewing externally below
+    'odom_frame_id': 'icp_odom',
+    'guess_frame_id': fixed_frame_id,
+    # RTAB-Map's internal parameters are strings:
+    'Odom/ScanKeyFrameThr': '0.4',
+    'OdomF2M/ScanSubtractRadius': str(voxel_size_value),
+    'OdomF2M/ScanMaxSize': '15000',
+    'OdomF2M/BundleAdjustment': 'false',
+    'Icp/CorrespondenceRatio': '0.01'
+  }
+  if imu_used:
+    icp_odometry_parameters['wait_imu_to_init'] = True
+
+  rtabmap_parameters = {
+    'subscribe_depth': False,
+    'subscribe_rgb': False,
+    'subscribe_odom_info': True,
+    'subscribe_scan_cloud': True,
+    # RTAB-Map's internal parameters are strings:
+    'RGBD/ProximityMaxGraphDepth': '0',
+    'RGBD/ProximityPathMaxNeighbors': '1',
+    'RGBD/AngularUpdate': '0.05',
+    'RGBD/LinearUpdate': '0.05',
+    'RGBD/CreateOccupancyGrid': 'false',
+    'Mem/NotLinkedNodesKept': 'false',
+    'Mem/STMSize': '30',
+    'Reg/Strategy': '1',
+    'Icp/CorrespondenceRatio': '0.2'
+  }
+  
+  arguments = []
+  if localization:
+    rtabmap_parameters['Mem/IncrementalMemory'] = 'False'
+    rtabmap_parameters['Mem/InitWMWithAllNodes'] = 'True'
+  else:
+    arguments.append('-d') # This will delete the previous database (~/.ros/rtabmap.db)
+  
+  remappings = [('odom', 'icp_odom')]
+  if imu_used:
+    remappings.append(('imu', LaunchConfiguration('imu_topic')))
+  else:
+    remappings.append(('imu', 'imu_not_used'))
+  if rgbd_image_used:
+    remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
+  
+  nodes = [
+    Node(
+      package='rtabmap_odom', executable='icp_odometry', output='screen',
+      parameters=[shared_parameters, icp_odometry_parameters],
+      remappings=remappings + [('scan_cloud', lidar_topic_deskewed)]),
+    
+    Node(
+      package='rtabmap_slam', executable='rtabmap', output='screen',
+      parameters=[shared_parameters, rtabmap_parameters, {'subscribe_rgbd': rgbd_image_used}],
+      remappings=remappings + [('scan_cloud', lidar_topic_deskewed)],
+      arguments=arguments), 
+  
+    Node(
+      package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+      parameters=[shared_parameters, rtabmap_parameters],
+      remappings=remappings + [('scan_cloud', 'odom_filtered_input_scan')])
+  ]
+  
+  if fixed_frame_from_imu:
+    # Create a stabilized base frame based on imu for lidar deskewing
+    nodes.append(
+      Node(
+        package='rtabmap_util', executable='imu_to_tf', output='screen',
+        parameters=[{
+          'use_sim_time': use_sim_time,
+          'fixed_frame_id': fixed_frame_id,
+          'base_frame_id': frame_id,
+          'wait_for_transform_duration': 0.001}],
+        remappings=[('imu/data', imu_topic)]))
+
+  if fixed_frame_id:
+    # Lidar deskewing
+    nodes.append(
+      Node(
+        package='rtabmap_util', executable='lidar_deskewing', output='screen',
+        parameters=[{
+          'use_sim_time': use_sim_time,
+          'fixed_frame_id': fixed_frame_id,
+          'wait_for_transform': 0.2}],
+        remappings=[
+            ('input_cloud', lidar_topic)
+        ])
+    )
+      
+  return nodes
+  
+def generate_launch_description():
+  return LaunchDescription([
+
+    # Launch arguments
+    DeclareLaunchArgument(
+      'use_sim_time', default_value='false',
+      description='Use simulated clock.'),
+    
+    DeclareLaunchArgument(
+      'deskewing', default_value='true',
+      description='Enable lidar deskewing.'),
+    
+    DeclareLaunchArgument(
+      'frame_id', default_value='velodyne',
+      description='Base frame of the robot.'),
+    
+    DeclareLaunchArgument(
+      'fixed_frame_id', default_value='',
+      description='Fixed frame used for lidar deskewing. If not set, we will generate one from IMU.'),
+    
+    DeclareLaunchArgument(
+      'localization', default_value='false',
+      description='Localization mode.'),
+
+    DeclareLaunchArgument(
+      'lidar_topic', default_value='/velodyne_points',
+      description='Name of the lidar PointCloud2 topic.'),
+
+    DeclareLaunchArgument(
+      'imu_topic', default_value='',
+      description='IMU topic (ignored if empty).'),
+    
+    DeclareLaunchArgument(
+      'rgbd_image_topic', default_value='',
+      description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'),
+    
+    DeclareLaunchArgument(
+      'voxel_size', default_value='0.1',
+      description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),
+
+    DeclareLaunchArgument(
+      'qos', default_value='1',
+      description='Quality of Service: 0=system default, 1=reliable, 2=best effort.'),
+
+    OpaqueFunction(function=launch_setup),
+  ])
+
+    

rtabmap_examples/launch/lidar3d_assemble.launch.py

@@ -0,0 +1,226 @@
+# Description:
+#   In this example, we will record ALL lidar scans. An IMU or low latency odometry is required for this example.
+# 
+# Example:
+#   Launch your lidar sensor:
+#   $ ros2 launch velodyne_driver velodyne_driver_node-VLP16-launch.py
+#   $ ros2 launch velodyne_pointcloud velodyne_transform_node-VLP16-launch.py
+#   
+#   Launch your IMU sensor, make sure TF between lidar/base frame and imu is already calibrated.
+#     In this example, we assume the imu topic has 
+#     already the orientation estimated, it not, you can launch 
+#     imu_filter_madgwick_node (with use_mag:=false publish_tf:=false)
+#     and set imu_topic to output topic of the filter.
+#
+#   If a camera is used, make sure TF between lidar/base frame and camera is
+#     already calibrated. To provide image data to this example, you should use
+#     rtabmap_sync's rgbd_sync or stereo_sync node.
+#
+#   Launch the example by adjusting the lidar topic, imu topic and base frame:
+#   $ ros2 launch rtabmap_examples lidar3d.launch.py lidar_topic:=/velodyne_points imu_topic:=/imu/data frame_id:=velodyne
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def launch_setup(context: LaunchContext, *args, **kwargs):
+  
+  frame_id = LaunchConfiguration('frame_id')
+
+  fixed_frame_from_imu = False
+  fixed_frame_id =  LaunchConfiguration('fixed_frame_id').perform(context)
+  if not fixed_frame_id:
+    fixed_frame_from_imu = True
+    fixed_frame_id = frame_id.perform(context) + "_stabilized"
+  
+  imu_topic = LaunchConfiguration('imu_topic')
+  
+  rgbd_image_topic = LaunchConfiguration('rgbd_image_topic')
+  rgbd_image_used =  rgbd_image_topic.perform(context) != ''
+  
+  lidar_topic = LaunchConfiguration('lidar_topic')
+  lidar_topic_value = lidar_topic.perform(context)
+  lidar_topic_deskewed = lidar_topic_value + "/deskewed"
+  
+  voxel_size = LaunchConfiguration('voxel_size')
+  voxel_size_value = float(voxel_size.perform(context))
+  
+  use_sim_time = LaunchConfiguration('use_sim_time')
+  
+  localization = LaunchConfiguration('localization').perform(context)
+  localization = localization == 'true' or localization == 'True'
+  
+  # Rule of thumb:
+  max_correspondence_distance = voxel_size_value * 10.0
+
+  shared_parameters = {
+    'use_sim_time': use_sim_time,
+    'frame_id': frame_id,
+    'qos': LaunchConfiguration('qos'),
+    'approx_sync': rgbd_image_used,
+    'wait_for_transform': 0.2,
+    # RTAB-Map's internal parameters are strings:
+    'Icp/PointToPlane': 'true',
+    'Icp/Iterations': '10',
+    'Icp/VoxelSize': str(voxel_size_value),
+    'Icp/Epsilon': '0.001',
+    'Icp/PointToPlaneK': '20',
+    'Icp/PointToPlaneRadius': '0',
+    'Icp/MaxTranslation': '3',
+    'Icp/MaxCorrespondenceDistance': str(max_correspondence_distance),
+    'Icp/Strategy': '1',
+    'Icp/OutlierRatio': '0.7',
+  }
+
+  icp_odometry_parameters = {
+    'expected_update_rate': 15.0,
+    'wait_imu_to_init': True,
+    'odom_frame_id': 'icp_odom',
+    'guess_frame_id': fixed_frame_id,
+    # RTAB-Map's internal parameters are strings:
+    'Odom/ScanKeyFrameThr': '0.4',
+    'OdomF2M/ScanSubtractRadius': str(voxel_size_value),
+    'OdomF2M/ScanMaxSize': '15000',
+    'OdomF2M/BundleAdjustment': 'false',
+    'Icp/CorrespondenceRatio': '0.01'
+  }
+
+  rtabmap_parameters = {
+    'subscribe_depth': False,
+    'subscribe_rgb': False,
+    'subscribe_odom_info': True,
+    'subscribe_scan_cloud': True,
+    'odom_sensor_sync': True, # This will adjust camera position based on difference between lidar and camera stamps.
+    # RTAB-Map's internal parameters are strings:
+    'Rtabmap/DetectionRate': '0', # indirectly set to 1 Hz by the assembling time below (1s)
+    'RGBD/ProximityMaxGraphDepth': '0',
+    'RGBD/ProximityPathMaxNeighbors': '1',
+    'RGBD/AngularUpdate': '0.05',
+    'RGBD/LinearUpdate': '0.05',
+    'RGBD/CreateOccupancyGrid': 'false',
+    'Mem/NotLinkedNodesKept': 'false',
+    'Mem/STMSize': '30',
+    'Reg/Strategy': '1',
+    'Icp/CorrespondenceRatio': '0.2'
+  }
+  
+  remappings = [('imu', imu_topic),
+                ('odom', 'icp_odom')]
+  if rgbd_image_used:
+    remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
+    
+  arguments = []
+  if localization:
+    rtabmap_parameters['Mem/IncrementalMemory'] = 'False'
+    rtabmap_parameters['Mem/InitWMWithAllNodes'] = 'True'
+  else:
+    arguments.append('-d') # This will delete the previous database (~/.ros/rtabmap.db)
+  
+  nodes = [
+    # Lidar deskewing
+    Node(
+      package='rtabmap_util', executable='lidar_deskewing', output='screen',
+      parameters=[{
+        'use_sim_time': use_sim_time,
+        'fixed_frame_id': fixed_frame_id,
+        'wait_for_transform': 0.2}],
+      remappings=[
+          ('input_cloud', lidar_topic)
+      ]),
+    
+    # Lidar odometry
+    Node(
+      package='rtabmap_odom', executable='icp_odometry', output='screen',
+      parameters=[shared_parameters, icp_odometry_parameters],
+      remappings=remappings + [('scan_cloud', lidar_topic_deskewed)]),
+    
+    # Assemble deskewed scans based on icp odometry
+    Node(
+      package='rtabmap_util', executable='point_cloud_assembler', output='screen',
+      parameters=[{
+        'use_sim_time': use_sim_time,
+        'assembling_time': LaunchConfiguration('assembling_time'), 
+        'fixed_frame_id': ""}], # This will make the node subscribing to icp odometry topic "odom"
+      remappings=[('cloud', lidar_topic_deskewed),
+                  ('odom', 'icp_odom')]),
+    
+    # Update the map
+    Node(
+      package='rtabmap_slam', executable='rtabmap', output='screen',
+      parameters=[shared_parameters, rtabmap_parameters,
+                  {'subscribe_rgbd': rgbd_image_used,
+                   'topic_queue_size': 30,
+                   'sync_queue_size': 20,}],
+      remappings=remappings + [('scan_cloud', 'assembled_cloud')],
+      arguments=arguments), 
+
+    # Just for visualization
+    Node(
+      package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+      parameters=[shared_parameters, rtabmap_parameters],
+      remappings=remappings + [('scan_cloud', 'odom_filtered_input_scan')])
+  ]
+  
+  if fixed_frame_from_imu:
+    # Create a stabilized base frame based on imu for lidar deskewing
+    nodes.append(
+      Node(
+        package='rtabmap_util', executable='imu_to_tf', output='screen',
+        parameters=[{
+          'use_sim_time': use_sim_time,
+          'fixed_frame_id': fixed_frame_id,
+          'base_frame_id': frame_id,
+          'wait_for_transform_duration': 0.001}],
+        remappings=[('imu/data', imu_topic)]))
+  
+  return nodes
+  
+def generate_launch_description():
+  return LaunchDescription([
+
+    # Launch arguments
+    DeclareLaunchArgument(
+      'use_sim_time', default_value='false',
+      description='Use simulated clock.'),
+    
+    DeclareLaunchArgument(
+      'frame_id', default_value='velodyne',
+      description='Base frame of the robot.'),
+    
+    DeclareLaunchArgument(
+      'fixed_frame_id', default_value='',
+      description='Fixed frame used for lidar deskewing. If not set, we will generate one from IMU.'),
+    
+    DeclareLaunchArgument(
+      'localization', default_value='false',
+      description='Localization mode.'),
+
+    DeclareLaunchArgument(
+      'lidar_topic', default_value='/velodyne_points',
+      description='Name of the lidar PointCloud2 topic.'),
+
+    DeclareLaunchArgument(
+      'imu_topic', default_value='/imu/data',
+      description='Name of an IMU topic.'),
+    
+    DeclareLaunchArgument(
+      'rgbd_image_topic', default_value='',
+      description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'),
+    
+    DeclareLaunchArgument(
+      'voxel_size', default_value='0.1',
+      description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),
+    
+    DeclareLaunchArgument(
+      'assembling_time', default_value='1.0',
+      description='How much time (sec) we assemble lidar scans before sending them to mapping node.'),
+
+    DeclareLaunchArgument(
+      'qos', default_value='1',
+      description='Quality of Service: 0=system default, 1=reliable, 2=best effort.'),
+
+    OpaqueFunction(function=launch_setup),
+  ])
+
+    

rtabmap_examples/launch/realsense_d435i_color.launch.py

@@ -10,8 +10,9 @@ from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
 from launch_ros.actions import Node, SetParameter
-from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
 
 def generate_launch_description():
     parameters=[{
@@ -29,6 +30,11 @@ def generate_launch_description():
 
     return LaunchDescription([
 
+        # Launch arguments
+        DeclareLaunchArgument(
+            'unite_imu_method', default_value='2',
+            description='0-None, 1-copy, 2-linear_interpolation. Use unite_imu_method:="1" if imu topics stop being published.'),
+
         # Make sure IR emitter is enabled
         SetParameter(name='depth_module.emitter_enabled', value=1),
 
@@ -40,7 +46,7 @@ def generate_launch_description():
                 launch_arguments={'camera_namespace': '',
                                   'enable_gyro': 'true',
                                   'enable_accel': 'true',
-                                  'unite_imu_method': '2',
+                                  'unite_imu_method': LaunchConfiguration('unite_imu_method'),
                                   'align_depth.enable': 'true',
                                   'enable_sync': 'true',
                                   'rgb_camera.profile': '640x360x30'}.items(),
@@ -69,9 +75,4 @@ def generate_launch_description():
                          'world_frame':'enu', 
                          'publish_tf':False}],
             remappings=[('imu/data_raw', '/camera/imu')]),
-        
-        # The IMU frame is missing in TF tree, add it:
-        Node(
-            package='tf2_ros', executable='static_transform_publisher', output='screen',
-            arguments=['0', '0', '0', '0', '0', '0', 'camera_gyro_optical_frame', 'camera_imu_optical_frame']),
     ])

rtabmap_examples/launch/realsense_d435i_infra.launch.py

@@ -11,7 +11,9 @@ from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node, SetParameter
 from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
 
 def generate_launch_description():
     parameters=[{
@@ -29,6 +31,11 @@ def generate_launch_description():
 
     return LaunchDescription([
 
+        # Launch arguments
+        DeclareLaunchArgument(
+            'unite_imu_method', default_value='2',
+            description='0-None, 1-copy, 2-linear_interpolation. Use unite_imu_method:="1" if imu topics stop being published.'),
+
         #Hack to disable IR emitter
         SetParameter(name='depth_module.emitter_enabled', value=0),
 
@@ -40,7 +47,7 @@ def generate_launch_description():
                 launch_arguments={'camera_namespace': '',
                                   'enable_gyro': 'true',
                                   'enable_accel': 'true',
-                                  'unite_imu_method': '2',
+                                  'unite_imu_method': LaunchConfiguration('unite_imu_method'),
                                   'enable_infra1': 'true',
                                   'enable_infra2': 'true',
                                   'enable_sync': 'true'}.items(),
@@ -69,9 +76,4 @@ def generate_launch_description():
                          'world_frame':'enu', 
                          'publish_tf':False}],
             remappings=[('imu/data_raw', '/camera/imu')]),
-        
-        # The IMU frame is missing in TF tree, add it:
-        Node(
-            package='tf2_ros', executable='static_transform_publisher', output='screen',
-            arguments=['0', '0', '0', '0', '0', '0', 'camera_gyro_optical_frame', 'camera_imu_optical_frame']),
     ])

rtabmap_examples/launch/realsense_d435i_stereo.launch.py

@@ -11,7 +11,9 @@ from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node, SetParameter
 from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
 
 def generate_launch_description():
     parameters=[{
@@ -29,6 +31,11 @@ def generate_launch_description():
 
     return LaunchDescription([
 
+        # Launch arguments
+        DeclareLaunchArgument(
+            'unite_imu_method', default_value='2',
+            description='0-None, 1-copy, 2-linear_interpolation. Use unite_imu_method:="1" if imu topics stop being published.'),
+
         #Hack to disable IR emitter
         SetParameter(name='depth_module.emitter_enabled', value=0),
 
@@ -40,7 +47,7 @@ def generate_launch_description():
                 launch_arguments={'camera_namespace': '',
                                   'enable_gyro': 'true',
                                   'enable_accel': 'true',
-                                  'unite_imu_method': '2',
+                                  'unite_imu_method': LaunchConfiguration('unite_imu_method'),
                                   'enable_infra1': 'true',
                                   'enable_infra2': 'true',
                                   'enable_sync': 'true'}.items(),
@@ -69,9 +76,4 @@ def generate_launch_description():
                          'world_frame':'enu', 
                          'publish_tf':False}],
             remappings=[('imu/data_raw', '/camera/imu')]),
-        
-        # The IMU frame is missing in TF tree, add it:
-        Node(
-            package='tf2_ros', executable='static_transform_publisher', output='screen',
-            arguments=['0', '0', '0', '0', '0', '0', 'camera_gyro_optical_frame', 'camera_imu_optical_frame']),
     ])

rtabmap_examples/launch/rtabmap_D405x2.launch.py

@@ -29,7 +29,7 @@ from ament_index_python.packages import get_package_share_directory
 def generate_launch_description():     
 
     config_rviz = os.path.join(
-            get_package_share_directory('rtabmap_examples'), 'launch', 'config', 'slam_D405x2_config.rviz')         
+            get_package_share_directory('rtabmap_examples'), 'config', 'slam_D405x2_config.rviz')         
 
     rviz_node = launch_ros.actions.Node(
         package='rviz2', executable='rviz2', output='screen',

rtabmap_examples/launch/rtabmap_D405x3.launch.py

@@ -31,7 +31,7 @@ from ament_index_python.packages import get_package_share_directory
 def generate_launch_description():     
 
     config_rviz = os.path.join(
-            get_package_share_directory('rtabmap_examples'), 'launch', 'config', 'slam_D405x3_config.rviz')         
+            get_package_share_directory('rtabmap_examples'), 'config', 'slam_D405x3_config.rviz')         
 
     rviz_node = launch_ros.actions.Node(
         package='rviz2', executable='rviz2', output='screen',

rtabmap_examples/launch/vlp16.launch.py

@@ -1,127 +0,0 @@
-# Example:
-#   $ ros2 launch rtabmap_examples vlp16.launch.py
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-
-def generate_launch_description():
-
-    use_sim_time = LaunchConfiguration('use_sim_time')
-    deskewing = LaunchConfiguration('deskewing')
-    
-    return LaunchDescription([
-
-        # Launch arguments
-        DeclareLaunchArgument(
-            'use_sim_time', default_value='false',
-            description='Use simulation (Gazebo) clock if true'),
-        
-        DeclareLaunchArgument(
-            'deskewing', default_value='true',
-            description='Enable lidar deskewing'),
-          
-        # Nodes to launch
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([os.path.join(
-                get_package_share_directory('velodyne_driver'), 'launch'),
-                '/velodyne_driver_node-VLP16-launch.py']),
-        ),
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([os.path.join(
-                get_package_share_directory('velodyne_pointcloud'), 'launch'),
-                '/velodyne_transform_node-VLP16-launch.py']),
-        ),
-
-        Node(
-            package='rtabmap_odom', executable='icp_odometry', output='screen',
-            parameters=[{
-              'frame_id':'velodyne',
-              'odom_frame_id':'odom',
-              'wait_for_transform':0.2,
-              'expected_update_rate':15.0,
-              'deskewing':deskewing,
-              'use_sim_time':use_sim_time,
-              # RTAB-Map's internal parameters are strings:
-              'Icp/PointToPlane': 'true',
-              'Icp/Iterations': '10',
-              'Icp/VoxelSize': '0.1',
-              'Icp/Epsilon': '0.001',
-              'Icp/PointToPlaneK': '20',
-              'Icp/PointToPlaneRadius': '0',
-              'Icp/MaxTranslation': '2',
-              'Icp/MaxCorrespondenceDistance': '1',
-              'Icp/Strategy': '1',
-              'Icp/OutlierRatio': '0.7',
-              'Icp/CorrespondenceRatio': '0.01',
-              'Odom/ScanKeyFrameThr': '0.4',
-              'OdomF2M/ScanSubtractRadius': '0.1',
-              'OdomF2M/ScanMaxSize': '15000',
-              'OdomF2M/BundleAdjustment': 'false'
-            }],
-            remappings=[
-              ('scan_cloud', '/velodyne_points')
-            ]),
-       
-        Node(
-            package='rtabmap_slam', executable='rtabmap', output='screen',
-            parameters=[{
-              'frame_id':'velodyne',
-              'subscribe_depth':False,
-              'subscribe_rgb':False,
-              'subscribe_scan_cloud':True,
-              'approx_sync':False,
-              'wait_for_transform':0.2,
-              'use_sim_time':use_sim_time,
-              # RTAB-Map's internal parameters are strings:
-              'RGBD/ProximityMaxGraphDepth': '0',
-              'RGBD/ProximityPathMaxNeighbors': '1',
-              'RGBD/AngularUpdate': '0.05',
-              'RGBD/LinearUpdate': '0.05',
-              'RGBD/CreateOccupancyGrid': 'false',
-              'Mem/NotLinkedNodesKept': 'false',
-              'Mem/STMSize': '30',
-              'Mem/LaserScanNormalK': '20',
-              'Reg/Strategy': '1',
-              'Icp/VoxelSize': '0.1',
-              'Icp/PointToPlaneK': '20',
-              'Icp/PointToPlaneRadius': '0',
-              'Icp/PointToPlane': 'true',
-              'Icp/Iterations': '10',
-              'Icp/Epsilon': '0.001',
-              'Icp/MaxTranslation': '3',
-              'Icp/MaxCorrespondenceDistance': '1',
-              'Icp/Strategy': '1',
-              'Icp/OutlierRatio': '0.7',
-              'Icp/CorrespondenceRatio': '0.2'
-            }],
-            remappings=[
-              ('scan_cloud', 'odom_filtered_input_scan')
-            ],
-            arguments=[
-              '-d' # This will delete the previous database (~/.ros/rtabmap.db)
-            ]), 
-     
-        Node(
-            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
-            parameters=[{
-              'frame_id':'velodyne',
-              'odom_frame_id':'odom',
-              'subscribe_odom_info':True,
-              'subscribe_scan_cloud':True,
-              'approx_sync':False,
-              'use_sim_time':use_sim_time,
-            }],
-            remappings=[
-               ('scan_cloud', 'odom_filtered_input_scan')
-            ]),
-    ])
-    
-    

rtabmap_examples/launch/vlp16_zed.launch.py

@@ -0,0 +1,121 @@
+# Example using zed odometry for lidar deskewing:
+#   $ ros2 launch rtabmap_examples vlp16_zed.launch.py camera_model:=zed2i
+#
+# To use only zed's imu for deskewing:
+#   $ ros2 launch rtabmap_examples vlp16_zed.launch.py camera_model:=zed2i use_zed_odometry:=false
+#
+
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+import tempfile
+
+def launch_setup(context: LaunchContext, *args, **kwargs):
+  
+  assemble = LaunchConfiguration('assemble').perform(context)
+  assemble = assemble == 'true' or assemble == 'True'
+  
+  lidar3d_launch_file = 'lidar3d.launch.py'
+  if assemble:
+    lidar3d_launch_file = 'lidar3d_assemble.launch.py'
+    
+  use_zed_odometry = LaunchConfiguration('use_zed_odometry').perform(context)
+  use_zed_odometry = use_zed_odometry == 'true' or use_zed_odometry == 'True'
+  
+  fixed_frame_id = ''
+  if use_zed_odometry:
+    fixed_frame_id = 'odom'
+  
+  # Hack to override grab_resolution parameter without changing any files
+  with tempfile.NamedTemporaryFile(mode='w+t', delete=False) as zed_override_file:
+      zed_override_file.write("---\n"+
+                "/**:\n"+
+                "    ros__parameters:\n"+
+                "        general:\n"+
+                "            grab_resolution: 'VGA'")
+
+  return [
+    IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('velodyne_driver'), 'launch'),
+            '/velodyne_driver_node-VLP16-launch.py']),
+    ),
+    IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('velodyne_pointcloud'), 'launch'),
+            '/velodyne_transform_node-VLP16-launch.py']),
+    ),
+    
+    # Launch camera driver
+    IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('zed_wrapper'), 'launch'),
+            '/zed_camera.launch.py']),
+            launch_arguments={'camera_model': LaunchConfiguration('camera_model'),
+                                'ros_params_override_path': zed_override_file.name,
+                                'publish_tf': LaunchConfiguration('use_zed_odometry'), # publish VIO frame
+                                'publish_map_tf': 'false'}.items(),
+    ),
+    
+    # Static transform between zed and velodyne frame (zed will be our base frame because VIO is already linked to it)
+    Node(package='tf2_ros', executable='static_transform_publisher', arguments=["0", "0", "-0.05", "0", "0", "0", "zed_camera_link", "velodyne"]),
+    
+    # Sync rgb/depth/camera_info together
+    Node(
+        package='rtabmap_sync', executable='rgbd_sync', output='screen',
+        parameters=[{'approx_sync': False}],
+        remappings=[('rgb/image', '/zed/zed_node/rgb/image_rect_color'),
+                    ('rgb/camera_info', '/zed/zed_node/rgb/camera_info'),
+                    ('depth/image', '/zed/zed_node/depth/depth_registered')]),
+
+    IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('rtabmap_examples'), 'launch'),
+            '/', lidar3d_launch_file]),
+        launch_arguments={'voxel_size': LaunchConfiguration('voxel_size'),
+                          'localization': LaunchConfiguration('localization'),
+                          'frame_id': 'zed_camera_link',
+                          'lidar_topic': 'velodyne_points',
+                          'imu_topic': '/zed/zed_node/imu/data',
+                          'rgbd_image_topic': 'rgbd_image',
+                          'fixed_frame_id': fixed_frame_id}.items()),
+  ]
+  
+def generate_launch_description():
+  return LaunchDescription([
+    # Launch arguments         
+    DeclareLaunchArgument(
+      'camera_model', default_value='',
+      description="[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features. Valid choices are: ['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']"),
+
+    DeclareLaunchArgument(
+      'use_zed_odometry', default_value='true',
+      description='Use ZED\'s odometry for deskewing.'),
+    
+    DeclareLaunchArgument(
+      'qos', default_value='1',
+      description='Quality of Service: 0=system default, 1=reliable, 2=best effort'),
+
+    DeclareLaunchArgument(
+      'localization', default_value='false',
+      description='Localization mode.'),
+
+    DeclareLaunchArgument(
+      'voxel_size', default_value='0.1',
+      description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),
+
+    DeclareLaunchArgument(
+      'assemble', default_value='false',
+      description='Assemble ALL lidar scans.'),
+
+    OpaqueFunction(function=launch_setup),
+  ])

rtabmap_examples/launch/zed.launch.py

@@ -55,7 +55,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
                                     'publish_map_tf': 'false'}.items(),
         ),
 
-        # Sync right/depth/camera_info together
+        # Sync rgb/depth/camera_info together
         Node(   
             package='rtabmap_sync', executable='rgbd_sync', output='screen',
             parameters=parameters,
@@ -93,5 +93,9 @@ def generate_launch_description():
             'use_zed_odometry', default_value='false',
             description='Use zed\'s computed odometry instead of using rtabmap\'s odometry.'),
         
+        DeclareLaunchArgument(
+            'camera_model', default_value='',
+            description="[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features. Valid choices are: ['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']"),
+        
         OpaqueFunction(function=launch_setup)
     ])