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merged master->ros2

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matlabbe
2023-06-17 18:17:20 -07:00
parent 7d84f83d96 4cbdb2d14b
commit 49316bff00
11 changed files with 131 additions and 59 deletions
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rtabmap_launch/launch/rtabmap.launch.py
+3 -3
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@@ -342,7 +342,7 @@ def launch_setup(context, *args, **kwargs):
("scan", LaunchConfiguration('scan_topic')),
("scan_cloud", LaunchConfiguration('scan_cloud_topic')),
("odom", LaunchConfiguration('odom_topic'))],
condition=IfCondition(LaunchConfiguration("rtabmapviz")),
condition=IfCondition(LaunchConfiguration("rtabmap_viz")),
arguments=[LaunchConfiguration("gui_cfg")],
prefix=LaunchConfiguration('launch_prefix'),
namespace=LaunchConfiguration('namespace')),
@@ -383,14 +383,14 @@ def generate_launch_description():
DeclareLaunchArgument('stereo', default_value='false', description='Use stereo input instead of RGB-D.'),
DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
DeclareLaunchArgument('rtabmapviz', default_value='true', description='Launch RTAB-Map UI (optional).'),
DeclareLaunchArgument('rtabmap_viz', default_value='true', description='Launch RTAB-Map UI (optional).'),
DeclareLaunchArgument('rviz', default_value='false', description='Launch RVIZ (optional).'),
DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'),
# Config files
DeclareLaunchArgument('cfg', default_value='', description='To change RTAB-Map\'s parameters, set the path of config file (*.ini) generated by the standalone app.'),
DeclareLaunchArgument('gui_cfg', default_value='~/.ros/rtabmap_gui.ini', description='Configuration path of rtabmapviz.'),
DeclareLaunchArgument('gui_cfg', default_value='~/.ros/rtabmap_gui.ini', description='Configuration path of rtabmap_viz.'),
DeclareLaunchArgument('rviz_cfg', default_value=config_rviz, description='Configuration path of rviz2.'),
DeclareLaunchArgument('frame_id', default_value='base_link', description='Fixed frame id of the robot (base frame), you may set "base_link" or "base_footprint" if they are published. For camera-only config, this could be "camera_link".'),