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Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

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matlabbe
2025-11-11 18:32:18 -08:00
parent e245b7751e 2f258bdae0
commit 4b970c2ca0
6 changed files with 97 additions and 1 deletions
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rtabmap_launch/launch/rtabmap.launch.py
+5
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@@ -63,6 +63,7 @@ def launch_setup(context, *args, **kwargs):
DeclareLaunchArgument('qos_user_data', default_value=LaunchConfiguration('qos'), description='Specific QoS used for user input data: 0=system default, 1=Reliable, 2=Best Effort.'),
DeclareLaunchArgument('qos_imu', default_value=LaunchConfiguration('qos'), description='Specific QoS used for imu input data: 0=system default, 1=Reliable, 2=Best Effort.'),
DeclareLaunchArgument('qos_gps', default_value=LaunchConfiguration('qos'), description='Specific QoS used for gps input data: 0=system default, 1=Reliable, 2=Best Effort.'),
DeclareLaunchArgument('qos_env_sensor', default_value=LaunchConfiguration('qos'), description='Specific QoS used for env sensor input data: 0=system default, 1=Reliable, 2=Best Effort.'),
DeclareLaunchArgument('odom_log_level', default_value=LaunchConfiguration('log_level'), description='Specific ROS logger level for odometry node.'),
@@ -316,6 +317,7 @@ def launch_setup(context, *args, **kwargs):
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
"qos_imu": LaunchConfiguration('qos_imu'),
"qos_gps": LaunchConfiguration('qos_gps'),
"qos_env_sensor": LaunchConfiguration('qos_env_sensor'),
"qos_user_data": LaunchConfiguration('qos_user_data'),
"scan_normal_k": LaunchConfiguration('scan_normal_k'),
"landmark_linear_variance": LaunchConfiguration('tag_linear_variance'),
@@ -340,6 +342,7 @@ def launch_setup(context, *args, **kwargs):
("gps/fix", LaunchConfiguration('gps_topic')),
("tag_detections", LaunchConfiguration('tag_topic')),
("fiducial_transforms", LaunchConfiguration('fiducial_topic')),
("env_sensor", LaunchConfiguration('env_sensor_topic')),
("odom", LaunchConfiguration('odom_topic')),
("imu", LaunchConfiguration('imu_topic')),
("goal_out", LaunchConfiguration('output_goal_topic'))],
@@ -529,6 +532,8 @@ def generate_launch_description():
DeclareLaunchArgument('tag_linear_variance', default_value='0.0001', description=''),
DeclareLaunchArgument('tag_angular_variance', default_value='9999.0', description='>=9999 means rotation is ignored in optimization, when rotation estimation of the tag is not reliable or not computed.'),
DeclareLaunchArgument('fiducial_topic', default_value='/fiducial_transforms', description='aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covariance.'),
DeclareLaunchArgument('env_sensor_topic', default_value='/env_sensor', description='A rtabmap_msgs/EnvSensor topic.'),
OpaqueFunction(function=launch_setup)
])