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ported rtabmap_ros_pkg_split to ros2

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matlabbe
2023-02-22 23:11:49 -08:00
parent 469b8311f8
commit 778a474b96
452 changed files with 4572 additions and 58667 deletions
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rtabmap_examples/launch/vlp16.launch.py
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# Example:
# $ ros2 launch velodyne_driver velodyne_driver_node-VLP16-launch.py
# $ ros2 launch velodyne_pointcloud velodyne_transform_node-VLP16-launch.py
#
# SLAM:
# $ ros2 launch rtabmap_ros vlp16.launch.py
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time')
deskewing = LaunchConfiguration('deskewing')
return LaunchDescription([
# Launch arguments
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
DeclareLaunchArgument(
'deskewing', default_value='true',
description='Enable lidar deskewing'),
# Nodes to launch
Node(
package='rtabmap_ros', executable='icp_odometry', output='screen',
parameters=[{
'frame_id':'velodyne',
'odom_frame_id':'odom',
'wait_for_transform':0.2,
'expected_update_rate':15.0,
'deskewing':deskewing,
'use_sim_time':use_sim_time,
}],
remappings=[
('scan_cloud', '/velodyne_points')
],
arguments=[
'Icp/PointToPlane', 'true',
'Icp/Iterations', '10',
'Icp/VoxelSize', '0.1',
'Icp/Epsilon', '0.001',
'Icp/PointToPlaneK', '20',
'Icp/PointToPlaneRadius', '0',
'Icp/MaxTranslation', '2',
'Icp/MaxCorrespondenceDistance', '1',
'Icp/Strategy', '1',
'Icp/OutlierRatio', '0.7',
'Icp/CorrespondenceRatio', '0.01',
'Odom/ScanKeyFrameThr', '0.6',
'OdomF2M/ScanSubtractRadius', '0.1',
'OdomF2M/ScanMaxSize', '15000',
'OdomF2M/BundleAdjustment', 'false',
]),
Node(
package='rtabmap_ros', executable='point_cloud_assembler', output='screen',
parameters=[{
'max_clouds':10,
'fixed_frame_id':'',
'use_sim_time':use_sim_time,
}],
remappings=[
('cloud', 'odom_filtered_input_scan')
]),
Node(
package='rtabmap_ros', executable='rtabmap', output='screen',
parameters=[{
'frame_id':'velodyne',
'subscribe_depth':False,
'subscribe_rgb':False,
'subscribe_scan_cloud':True,
'approx_sync':False,
'wait_for_transform':0.2,
'use_sim_time':use_sim_time,
}],
remappings=[
('scan_cloud', 'assembled_cloud')
],
arguments=[
'-d', # This will delete the previous database (~/.ros/rtabmap.db)
'RGBD/ProximityMaxGraphDepth', '0',
'RGBD/ProximityPathMaxNeighbors', '1',
'RGBD/AngularUpdate', '0.05',
'RGBD/LinearUpdate', '0.05',
'RGBD/CreateOccupancyGrid', 'false',
'Mem/NotLinkedNodesKept', 'false',
'Mem/STMSize', '30',
'Mem/LaserScanNormalK', '20',
'Reg/Strategy', '1',
'Icp/VoxelSize', '0.1',
'Icp/PointToPlaneK', '20',
'Icp/PointToPlaneRadius', '0',
'Icp/PointToPlane', 'true',
'Icp/Iterations', '10',
'Icp/Epsilon', '0.001',
'Icp/MaxTranslation', '3',
'Icp/MaxCorrespondenceDistance', '1',
'Icp/Strategy', '1',
'Icp/OutlierRatio', '0.7',
'Icp/CorrespondenceRatio', '0.2',
]),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
parameters=[{
'frame_id':'velodyne',
'odom_frame_id':'odom',
'subscribe_odom_info':True,
'subscribe_scan_cloud':True,
'approx_sync':False,
'use_sim_time':use_sim_time,
}],
remappings=[
('scan_cloud', 'odom_filtered_input_scan')
]),
])