ported rtabmap_ros_pkg_split to ros2

2026-10-04 08:47:45 +08:00 · 2023-02-22 23:11:49 -08:00
parent 469b8311f8
commit 778a474b96
452 changed files with 4572 additions and 58667 deletions
@@ -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),
+    ])