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merged master->ros2

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matlabbe
2022-11-27 16:21:59 -08:00
parent ed248b4dbd 671c80dc3f
commit 5c3c269652
27 changed files with 1055 additions and 131 deletions
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launch/ros2/rtabmap.launch.py
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@@ -262,6 +262,7 @@ def launch_setup(context, *args, **kwargs):
"map_frame_id": LaunchConfiguration('map_frame_id'),
"odom_frame_id": LaunchConfiguration('odom_frame_id').perform(context),
"publish_tf": LaunchConfiguration('publish_tf_map'),
"initial_pose": LaunchConfiguration('initial_pose'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
"odom_tf_angular_variance": LaunchConfiguration('odom_tf_angular_variance'),
@@ -404,6 +405,7 @@ def generate_launch_description():
DeclareLaunchArgument('rtabmap_args', default_value='', description='Backward compatibility, use "args" instead.'),
DeclareLaunchArgument('launch_prefix', default_value='', description='For debugging purpose, it fills prefix tag of the nodes, e.g., "xterm -e gdb -ex run --args"'),
DeclareLaunchArgument('output', default_value='screen', description='Control node output (screen or log).'),
DeclareLaunchArgument('initial_pose', default_value='', description='Set an initial pose (only in localization mode). Format: "x y z roll pitch yaw" or "x y z qx qy qz qw". Default: see "RGBD/StartAtOrigin" doc'),
DeclareLaunchArgument('ground_truth_frame_id', default_value='', description='e.g., "world"'),
DeclareLaunchArgument('ground_truth_base_frame_id', default_value='', description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree)'),