ported rtabmap_ros_pkg_split to ros2

rtabmap_examples/launch/realsense_d400.launch.py

@@ -0,0 +1,46 @@
+# Requirements:
+#   A realsense D400 series
+#   Install realsense2 ros2 package (make sure you have this patch: https://github.com/IntelRealSense/realsense-ros/issues/2564#issuecomment-1336288238)
+# Example:
+#   $ ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
+#
+#   $ ros2 launch rtabmap_ros realsense_d400.launch.py
+#   OR
+#   $ ros2 launch rtabmap_ros rtabmap.launch.py frame_id:=camera_link args:="-d" rgb_topic:=/camera/color/image_raw depth_topic:=/camera/aligned_depth_to_color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    parameters=[{
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          'approx_sync':False}]
+
+    remappings=[
+          ('rgb/image', '/camera/color/image_raw'),
+          ('rgb/camera_info', '/camera/color/camera_info'),
+          ('depth/image', '/camera/aligned_depth_to_color/image_raw')]
+
+    return LaunchDescription([
+
+        # Nodes to launch
+        Node(
+            package='rtabmap_ros', executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+
+        Node(
+            package='rtabmap_ros', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        Node(
+            package='rtabmap_ros', executable='rtabmapviz', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+    ])