merged ros2->jazzy-devel

2026-10-04 08:47:45 +08:00 · 2025-06-08 16:04:29 -07:00
parent 4a1c257133 945101697a
commit 6ebb8e3184
55 changed files with 1043 additions and 221 deletions
@@ -15,21 +15,25 @@
 + [Isaac Sim Nav2 and RGB-D VSLAM](#isaac-sim-nav2-and-rgb-d-vslam)

 ### Outdoor Stereo VSLAM
-[stereo_outdoor_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/stereo_outdoor_demo.launch.py)
+[stereo_outdoor_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/stereo_outdoor_demo.launch.py) ([Video](https://youtu.be/qpTS7kg9J3A))

 ![Peek 2024-11-29 10-52](https://github.com/user-attachments/assets/b6dd4a1c-5bd5-4cfa-936d-e8e707bbcb23)
+
 ### Indoor 2D LiDAR and RGB-D SLAM
-[robot_mapping_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/robot_mapping_demo.launch.py)
+[robot_mapping_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/robot_mapping_demo.launch.py) (Videos: [rtabmap_viz](https://youtu.be/c0qrEd5rR7M), [rviz](https://youtu.be/MQoSDpAsqps))

 ![Peek 2024-11-29 11-07](https://github.com/user-attachments/assets/b02beeea-28ed-4fde-932d-c89bef1a046d)
+
 ### Multi-Session Indoor 2D LiDAR and RGB-D SLAM
-[multisession_mapping_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/multisession_mapping_demo.launch.py)
+[multisession_mapping_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/multisession_mapping_demo.launch.py) ([Video](https://youtu.be/XrnyhaxPCro))

 ![Peek 2024-11-29 11-48](https://github.com/user-attachments/assets/b130e5ab-618f-4c8b-840f-f926b65ab53b)
+
 ### Find-Object with SLAM
-[find_object_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/find_object_demo.launch.py)
+[find_object_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/find_object_demo.launch.py) ([Video](https://youtu.be/o1GSQanY-Do))

 ![Peek 2024-11-29 12-01](https://github.com/user-attachments/assets/b3cc0c67-517a-4f69-b4cc-35d288e96165)
+
 ### Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM
 [turtlebot4_sim_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot4/turtlebot4_sim_demo.launch.py)

@@ -8,6 +8,9 @@
 #           <width>320</width>
 #           <height>240</height>
 #        </image>
+#   - Fix lidar sim distortions by editing /opt/ros/humble/share/clearpath_gz/worlds/warehouse.sdf (https://github.com/gazebosim/gz-sim/issues/2743):
+#        - <render_engine>ogre2</render_engine>
+#        + <render_engine>ogre</render_engine>
 #
 # Example with gazebo:
 #   1) Launch simulator (husky, nav2 and rtabmap):
@@ -8,6 +8,9 @@
 #           <width>320</width>
 #           <height>240</height>
 #        </image>
+#   - Fix lidar sim distortions by editing /opt/ros/humble/share/clearpath_gz/worlds/warehouse.sdf (https://github.com/gazebosim/gz-sim/issues/2743):
+#        - <render_engine>ogre2</render_engine>
+#        + <render_engine>ogre</render_engine>
 #
 # Example with gazebo:
 #   1) Launch simulator (husky, nav2 and rtabmap):
@@ -40,6 +43,8 @@ ARGUMENTS = [
                          description='Ignition World'),
    DeclareLaunchArgument('robot_ns', default_value='a200_0000',
                          description='Robot namespace'),
+    DeclareLaunchArgument('use_camera', default_value='true',
+                          description='Use camera for global loop closure / re-localization.'),
 ]

 def generate_launch_description():
@@ -83,6 +88,7 @@ def generate_launch_description():
            ('rtabmap_viz', LaunchConfiguration('rtabmap_viz')),
            ('localization', LaunchConfiguration('localization')),
            ('use_sim_time', 'true'),
+            ('use_camera', LaunchConfiguration('use_camera')),
            ('robot_ns', LaunchConfiguration('robot_ns'))
        ]
    )
@@ -34,6 +34,7 @@ def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time')
    localization = LaunchConfiguration('localization')
    robot_ns = LaunchConfiguration('robot_ns')
+    use_camera = LaunchConfiguration('use_camera')

    icp_odom_parameters={
          'odom_frame_id':'icp_odom',
@@ -43,7 +44,9 @@ def generate_launch_description():
    }

    rtabmap_parameters={
-          'subscribe_rgbd':True,
+          'subscribe_rgb':False,
+          'subscribe_depth':False,
+          'subscribe_rgbd': use_camera,
          'subscribe_scan_cloud':True,
          'use_action_for_goal':True,
          'odom_sensor_sync': True,
@@ -88,7 +91,7 @@ def generate_launch_description():
        DeclareLaunchArgument(
            'use_sim_time', default_value='false', choices=['true', 'false'],
            description='Use simulation (Gazebo) clock if true'),
-        
+
        DeclareLaunchArgument(
            'localization', default_value='false', choices=['true', 'false'],
            description='Launch rtabmap in localization mode (a map should have been already created).'),
@@ -97,8 +100,13 @@ def generate_launch_description():
            'robot_ns', default_value='a200_0000',
            description='Robot namespace.'),

+        DeclareLaunchArgument(
+            'use_camera', default_value='true',
+            description='Use camera for global loop closure / re-localization.'),
+
        # Nodes to launch
        Node(
+            condition=IfCondition(use_camera),
            package='rtabmap_sync', executable='rgbd_sync', output='screen',
            namespace=robot_ns,
            parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time}],
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_demos</name>
-  <version>0.21.10</version>
+  <version>0.22.0</version>
  <description>RTAB-Map's demo launch files.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>