mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
ported rtabmap_ros_pkg_split to ros2
This commit is contained in:
matlabbe
@@ -0,0 +1,10 @@
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
project(rtabmap_demos)
|
||||
|
||||
find_package(ament_cmake REQUIRED)
|
||||
|
||||
install(DIRECTORY launch
|
||||
DESTINATION share/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
ament_package()
|
||||
@@ -0,0 +1,102 @@
|
||||
# Requirements:
|
||||
# Install Turtlebot3 packages
|
||||
# Modify turtlebot3_waffle SDF:
|
||||
# 1) Edit turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
|
||||
# 2) Add
|
||||
# <joint name="camera_rgb_optical_joint" type="fixed">
|
||||
# <parent>camera_rgb_frame</parent>
|
||||
# <child>camera_rgb_optical_frame</child>
|
||||
# <pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
|
||||
# <axis>
|
||||
# <xyz>0 0 1</xyz>
|
||||
# </axis>
|
||||
# </joint>
|
||||
# 3) Rename <link name="camera_rgb_frame"> to <link name="camera_rgb_optical_frame">
|
||||
# 4) Add <link name="camera_rgb_frame"/>
|
||||
# 5) Change <sensor name="camera" type="camera"> to <sensor name="camera" type="depth">
|
||||
# 6) Change image width/height from 1920x1080 to 640x480
|
||||
# 7) Note that we can increase min scan range from 0.12 to 0.2 to avoid having scans
|
||||
# hitting the robot itself
|
||||
# Example:
|
||||
# $ export TURTLEBOT3_MODEL=waffle
|
||||
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
|
||||
#
|
||||
# SLAM:
|
||||
# $ ros2 launch rtabmap_ros turtlebot3_rgbd.launch.py
|
||||
# OR
|
||||
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info approx_sync:=true qos:=2
|
||||
#
|
||||
# Navigation (install nav2_bringup package):
|
||||
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
|
||||
# $ ros2 launch nav2_bringup rviz_launch.py
|
||||
#
|
||||
# Teleop:
|
||||
# $ ros2 run turtlebot3_teleop teleop_keyboard
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch_ros.actions import Node
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
qos = LaunchConfiguration('qos')
|
||||
localization = LaunchConfiguration('localization')
|
||||
|
||||
parameters={
|
||||
'frame_id':'base_footprint',
|
||||
'use_sim_time':use_sim_time,
|
||||
'subscribe_depth':True,
|
||||
'use_action_for_goal':True,
|
||||
'qos_image':qos,
|
||||
'qos_imu':qos,
|
||||
'Reg/Force3DoF':'true',
|
||||
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
|
||||
}
|
||||
|
||||
remappings=[
|
||||
('rgb/image', '/camera/image_raw'),
|
||||
('rgb/camera_info', '/camera/camera_info'),
|
||||
('depth/image', '/camera/depth/image_raw')]
|
||||
|
||||
return LaunchDescription([
|
||||
|
||||
# Launch arguments
|
||||
DeclareLaunchArgument(
|
||||
'use_sim_time', default_value='true',
|
||||
description='Use simulation (Gazebo) clock if true'),
|
||||
|
||||
DeclareLaunchArgument(
|
||||
'qos', default_value='2',
|
||||
description='QoS used for input sensor topics'),
|
||||
|
||||
DeclareLaunchArgument(
|
||||
'localization', default_value='false',
|
||||
description='Launch in localization mode.'),
|
||||
|
||||
# Nodes to launch
|
||||
|
||||
# SLAM mode:
|
||||
Node(
|
||||
condition=UnlessCondition(localization),
|
||||
package='rtabmap_ros', executable='rtabmap', output='screen',
|
||||
parameters=[parameters],
|
||||
remappings=remappings,
|
||||
arguments=['-d']), # This will delete the previous database (~/.ros/rtabmap.db)
|
||||
|
||||
# Localization mode:
|
||||
Node(
|
||||
condition=IfCondition(localization),
|
||||
package='rtabmap_ros', executable='rtabmap', output='screen',
|
||||
parameters=[parameters,
|
||||
{'Mem/IncrementalMemory':'False',
|
||||
'Mem/InitWMWithAllNodes':'True'}],
|
||||
remappings=remappings),
|
||||
|
||||
Node(
|
||||
package='rtabmap_ros', executable='rtabmapviz', output='screen',
|
||||
parameters=[parameters],
|
||||
remappings=remappings),
|
||||
])
|
||||
@@ -0,0 +1,113 @@
|
||||
# Requirements:
|
||||
# Install Turtlebot3 packages
|
||||
# Modify turtlebot3_waffle SDF:
|
||||
# 1) Edit turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
|
||||
# 2) Add
|
||||
# <joint name="camera_rgb_optical_joint" type="fixed">
|
||||
# <parent>camera_rgb_frame</parent>
|
||||
# <child>camera_rgb_optical_frame</child>
|
||||
# <pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
|
||||
# <axis>
|
||||
# <xyz>0 0 1</xyz>
|
||||
# </axis>
|
||||
# </joint>
|
||||
# 3) Rename <link name="camera_rgb_frame"> to <link name="camera_rgb_optical_frame">
|
||||
# 4) Add <link name="camera_rgb_frame"/>
|
||||
# 5) Change <sensor name="camera" type="camera"> to <sensor name="camera" type="depth">
|
||||
# 6) Change image width/height from 1920x1080 to 640x480
|
||||
# 7) Note that we can increase min scan range from 0.12 to 0.2 to avoid having scans
|
||||
# hitting the robot itself
|
||||
# Example:
|
||||
# $ export TURTLEBOT3_MODEL=waffle
|
||||
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
|
||||
#
|
||||
# SLAM:
|
||||
# $ ros2 launch rtabmap_ros turtlebot3_rgbd_sync.launch.py
|
||||
# OR
|
||||
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true approx_sync:=true approx_rgbd_sync:=false odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1 --Reg/Force3DoF true --Grid/RangeMin 0.2" use_sim_time:=true rgbd_sync:=true rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info qos:=2
|
||||
#
|
||||
# Navigation (install nav2_bringup package):
|
||||
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
|
||||
# $ ros2 launch nav2_bringup rviz_launch.py
|
||||
#
|
||||
# Teleop:
|
||||
# $ ros2 run turtlebot3_teleop teleop_keyboard
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
qos = LaunchConfiguration('qos')
|
||||
localization = LaunchConfiguration('localization')
|
||||
|
||||
parameters={
|
||||
'frame_id':'base_footprint',
|
||||
'use_sim_time':use_sim_time,
|
||||
'subscribe_rgbd':True,
|
||||
'subscribe_scan':True,
|
||||
'use_action_for_goal':True,
|
||||
'qos_scan':qos,
|
||||
'qos_image':qos,
|
||||
'qos_imu':qos,
|
||||
# RTAB-Map's parameters should be strings:
|
||||
'Reg/Strategy':'1',
|
||||
'Reg/Force3DoF':'true',
|
||||
'RGBD/NeighborLinkRefining':'True',
|
||||
'Grid/RangeMin':'0.2', # ignore laser scan points on the robot itself
|
||||
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
|
||||
}
|
||||
|
||||
remappings=[
|
||||
('rgb/image', '/camera/image_raw'),
|
||||
('rgb/camera_info', '/camera/camera_info'),
|
||||
('depth/image', '/camera/depth/image_raw')]
|
||||
|
||||
return LaunchDescription([
|
||||
|
||||
# Launch arguments
|
||||
DeclareLaunchArgument(
|
||||
'use_sim_time', default_value='true',
|
||||
description='Use simulation (Gazebo) clock if true'),
|
||||
|
||||
DeclareLaunchArgument(
|
||||
'qos', default_value='2',
|
||||
description='QoS used for input sensor topics'),
|
||||
|
||||
DeclareLaunchArgument(
|
||||
'localization', default_value='false',
|
||||
description='Launch in localization mode.'),
|
||||
|
||||
# Nodes to launch
|
||||
Node(
|
||||
package='rtabmap_ros', executable='rgbd_sync', output='screen',
|
||||
parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time, 'qos':qos}],
|
||||
remappings=remappings),
|
||||
|
||||
# SLAM Mode:
|
||||
Node(
|
||||
condition=UnlessCondition(localization),
|
||||
package='rtabmap_ros', executable='rtabmap', output='screen',
|
||||
parameters=[parameters],
|
||||
remappings=remappings,
|
||||
arguments=['-d']),
|
||||
|
||||
# Localization mode:
|
||||
Node(
|
||||
condition=IfCondition(localization),
|
||||
package='rtabmap_ros', executable='rtabmap', output='screen',
|
||||
parameters=[parameters,
|
||||
{'Mem/IncrementalMemory':'False',
|
||||
'Mem/InitWMWithAllNodes':'True'}],
|
||||
remappings=remappings),
|
||||
|
||||
Node(
|
||||
package='rtabmap_ros', executable='rtabmapviz', output='screen',
|
||||
parameters=[parameters],
|
||||
remappings=remappings),
|
||||
])
|
||||
@@ -0,0 +1,92 @@
|
||||
# Requirements:
|
||||
# Install Turtlebot3 packages
|
||||
# Note that we can edit turtlebot3_gazebo/models/turtlebot_waffle/model.sdf
|
||||
# to increase min scan range from 0.12 to 0.2 to avoid having scans
|
||||
# hitting the robot itself
|
||||
# Example:
|
||||
# $ export TURTLEBOT3_MODEL=waffle
|
||||
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
|
||||
#
|
||||
# SLAM:
|
||||
# $ ros2 launch rtabmap_ros turtlebot3_scan.launch.py
|
||||
# OR
|
||||
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1 --Reg/Force3DoF true --Grid/RangeMin 0.2" use_sim_time:=true qos:=2
|
||||
#
|
||||
# Navigation (install nav2_bringup package):
|
||||
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
|
||||
# $ ros2 launch nav2_bringup rviz_launch.py
|
||||
#
|
||||
# Teleop:
|
||||
# $ ros2 run turtlebot3_teleop teleop_keyboard
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch_ros.actions import Node
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
use_sim_time = LaunchConfiguration('use_sim_time')
|
||||
qos = LaunchConfiguration('qos')
|
||||
localization = LaunchConfiguration('localization')
|
||||
|
||||
parameters={
|
||||
'frame_id':'base_footprint',
|
||||
'use_sim_time':use_sim_time,
|
||||
'subscribe_depth':False,
|
||||
'subscribe_rgb':False,
|
||||
'subscribe_scan':True,
|
||||
'approx_sync':True,
|
||||
'use_action_for_goal':True,
|
||||
'qos_scan':qos,
|
||||
'qos_imu':qos,
|
||||
'Reg/Strategy':'1',
|
||||
'Reg/Force3DoF':'true',
|
||||
'RGBD/NeighborLinkRefining':'True',
|
||||
'Grid/RangeMin':'0.2', # ignore laser scan points on the robot itself
|
||||
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
|
||||
}
|
||||
|
||||
remappings=[
|
||||
('scan', '/scan')]
|
||||
|
||||
return LaunchDescription([
|
||||
|
||||
# Launch arguments
|
||||
DeclareLaunchArgument(
|
||||
'use_sim_time', default_value='true',
|
||||
description='Use simulation (Gazebo) clock if true'),
|
||||
|
||||
DeclareLaunchArgument(
|
||||
'qos', default_value='2',
|
||||
description='QoS used for input sensor topics'),
|
||||
|
||||
DeclareLaunchArgument(
|
||||
'localization', default_value='false',
|
||||
description='Launch in localization mode.'),
|
||||
|
||||
# Nodes to launch
|
||||
|
||||
# SLAM mode:
|
||||
Node(
|
||||
condition=UnlessCondition(localization),
|
||||
package='rtabmap_ros', executable='rtabmap', output='screen',
|
||||
parameters=[parameters],
|
||||
remappings=remappings,
|
||||
arguments=['-d']), # This will delete the previous database (~/.ros/rtabmap.db)
|
||||
|
||||
# Localization mode:
|
||||
Node(
|
||||
condition=IfCondition(localization),
|
||||
package='rtabmap_ros', executable='rtabmap', output='screen',
|
||||
parameters=[parameters,
|
||||
{'Mem/IncrementalMemory':'False',
|
||||
'Mem/InitWMWithAllNodes':'True'}],
|
||||
remappings=remappings),
|
||||
|
||||
Node(
|
||||
package='rtabmap_ros', executable='rtabmapviz', output='screen',
|
||||
parameters=[parameters],
|
||||
remappings=remappings),
|
||||
])
|
||||
@@ -0,0 +1,25 @@
|
||||
<?xml version="1.0"?>
|
||||
<?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>0.1.0</version>
|
||||
<description>RTAB-Map's demo launch files.</description>
|
||||
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
|
||||
<author>Mathieu Labbe</author>
|
||||
<license>BSD</license>
|
||||
<url type="bugtracker">https://github.com/introlab/rtabmap_ros/issues</url>
|
||||
<url type="repository">https://github.com/introlab/rtabmap_ros</url>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<exec_depend>rtabmap_odom</exec_depend>
|
||||
<exec_depend>rtabmap_slam</exec_depend>
|
||||
<exec_depend>rtabmap_util</exec_depend>
|
||||
<exec_depend>rtabmap_rviz_plugins</exec_depend>
|
||||
<exec_depend>rtabmap_viz</exec_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
|
||||
</package>
|
||||
Reference in New Issue
Block a user