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Added Euroc stereo dataset example launch file (ros2). Fixed identity ground_truth when it should be null.

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matlabbe
2022-11-20 18:06:11 -08:00
parent 14ea1ba0ec
commit 5cfacebbb8
7 changed files with 258 additions and 65 deletions
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launch/ros2/rgbdslam_datasets.launch.py
+7 -3
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@@ -13,13 +13,14 @@
# $ ros2 launch rtabmap_ros rgbdslam_datasets.launch.py
# $ cd rgbd_dataset_freiburg3_long_office_household_frameid_fixed
# $ ros2 bag play rgbd_dataset_freiburg3_long_office_household_frameid_fixed.db3
# $ ros2 bag play rgbd_dataset_freiburg3_long_office_household_frameid_fixed.db3 --clock
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.actions import SetParameter
def generate_launch_description():
@@ -45,6 +46,9 @@ def generate_launch_description():
return LaunchDescription([
SetParameter(name='use_sim_time', value=True),
# 'use_sim_time' will be set on all nodes following the line above
# Nodes to launch
Node(
package='rtabmap_ros', executable='rgbd_odometry', output='screen',
@@ -62,8 +66,8 @@ def generate_launch_description():
parameters=parameters,
remappings=remappings),
# /tf topic is not recognized in ROS2, create a fake tf
# /tf topic is missing in the converted ROS2 bag, create a fake tf
Node(
package='tf2_ros', executable='static_transform_publisher', output='screen',
arguments=['0.0', '0.0', '0.0', '-1.57', '0.0', '-1.57', 'kinect', 'openni_rgb_optical_frame']),
arguments=['0.0', '0.0', '0.0', '-1.57079632679', '0.0', '-1.57079632679', 'kinect', 'openni_rgb_optical_frame']),
])