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merged master->ros2

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matlabbe
2025-09-14 18:41:31 -07:00
parent f64fb02eab f601fd43bf
commit 491a04b78b
5 changed files with 19 additions and 14 deletions
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rtabmap_launch/launch/rtabmap.launch.py
+7 -3
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@@ -186,7 +186,8 @@ def launch_setup(context, *args, **kwargs):
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation'),
"always_process_most_recent_frame": LaunchConfiguration('odom_always_process_most_recent_frame')}],
remappings=[
("rgb/image", LaunchConfiguration('rgb_topic_relay')),
("depth/image", LaunchConfiguration('depth_topic_relay')),
@@ -223,7 +224,8 @@ def launch_setup(context, *args, **kwargs):
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation'),
"always_process_most_recent_frame": LaunchConfiguration('odom_always_process_most_recent_frame')}],
remappings=[
("left/image_rect", LaunchConfiguration('left_image_topic_relay')),
("right/image_rect", LaunchConfiguration('right_image_topic_relay')),
@@ -258,7 +260,8 @@ def launch_setup(context, *args, **kwargs):
"qos_imu": LaunchConfiguration('qos_imu'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation'),
"always_process_most_recent_frame": LaunchConfiguration('odom_always_process_most_recent_frame')}],
remappings=[
("scan", LaunchConfiguration('scan_topic')),
("scan_cloud", LaunchConfiguration('scan_cloud_topic')),
@@ -495,6 +498,7 @@ def generate_launch_description():
DeclareLaunchArgument('odom_guess_frame_id', default_value='', description=''),
DeclareLaunchArgument('odom_guess_min_translation', default_value='0.0', description=''),
DeclareLaunchArgument('odom_guess_min_rotation', default_value='0.0', description=''),
DeclareLaunchArgument('odom_always_process_most_recent_frame', default_value='true', description='Odometry: always process latest frame to reduce delay, skipping frames in case odometry is slower than camera frame rate. In case you want to make sure to process all frames (e.g., from a rosbag/dataset) and you don\'t care about delay, set this to false.'),
# imu
DeclareLaunchArgument('imu_topic', default_value='/imu/data', description='Used with VIO approaches and for SLAM graph optimization (gravity constraints).'),