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/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']),
     ])