rtabmap_demos tests and docs (#1462)

* rtabmap_demos tests and docs * added bag testing * added rtabmap_examples launch tests * updating demo bag download paths * added netherdrone demo * Fixed rgb-only callback with lidar rejected. Updated lidar params * Added back OrbitOriented rviz view to ros2, with optional octomap wll clipping * fixing ci * lidar demo added intermediate_nodes option * added netherdrone as demo test * running rtabmap_demos tests on ci * added rtabmap_launch tests, fixed ground_truth_base_frame_id usage * ficing rolling * updating demo test harnest * densify golden trajectories to avoid tf missing * fixing tf steps * updated min icp ratio for netherdrone demo * fixing image_transport arg->params * export pose opt=0 * lets process all frames * updated netherdrone golden * fixing publishers queue size just for tests * added playdback demo doc * Adding more logs to debug ci * Fixing QOS for CI to reliable, added find-object demo test * name threads * fixing camera info expected transient on lyrical/rolling. Fixing find_object not appearing idle * 30 Hz polling backward comp * fixing test tf sim lock * fixing lyrical qos bag parsing * faster replay * lockstep * fixing clock deadlock * Added test on shutdown * updated netherdrone golden poses * Extended stereo outdoor test * updated shutdown test * updated test * multi-thread flaky test * adding backtrace when test fails * increased closure slack for netherdrone * g2o gauss newton on stereo * adjusted maximum optimizer iterations * updated default iterations * Added netherdrone in list of demos
2026-10-11 20:19:50 +08:00 · 2026-10-10 12:23:49 -07:00
parent cb2117f1ed
commit 82f0754bf7
80 changed files with 18405 additions and 98 deletions
@@ -1,7 +1,7 @@
 # Requirements:
 #   find_object_2d package installed
 #   Download rosbag:
-#    * demo_find_object.db3: https://drive.google.com/file/d/1web54yQkxeGFr2UwOjKeoajGGDm0fZXT/view?usp=drive_link
+#    * demo_find_object_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/demo_find_object_bag.zip
 #
 # Example:
 #
@@ -9,7 +9,7 @@
 #     $ ros2 launch rtabmap_demos find_object_demo.launch.py
 #
 #   Rosbag:
-#     $ ros2 bag play demo_find_object.db3 --clock
+#     $ ros2 bag play demo_find_object_bag --clock
 #

 from launch import LaunchDescription
@@ -38,6 +38,15 @@ def generate_launch_description():
          'RGBD/NeighborLinkRefining': 'true',    # Do odometry correction with consecutive laser scans
          'Reg/Strategy':              '1',       # 0=Visual, 1=ICP, 2=Visual+ICP
          'Reg/Force3DoF':             'true',    # 2D SLAM          
+          # The objects find_object_2d detects become landmarks (see find_object_to_landmarks.py,
+          # which sets their covariance from these, as rtabmap does for its own markers).
+          # Range and bearing only (GTSAM): the objects' orientation is the least reliable
+          # part of find_object_2d's estimate. Linear: the range variance (m^2), angular:
+          # the bearing variance (rad^2).
+          'Marker/VarianceLinear':     '0.001',
+          'Marker/VarianceAngular':    '0.01',
+          'Marker/VarianceOrientationIgnored': 'true',
+          'Optimizer/Strategy':        '2',       # GTSAM
    }
    
    remappings=[
@@ -63,6 +72,7 @@ def generate_launch_description():
        # Launch arguments
        DeclareLaunchArgument('rtabmap_viz',  default_value='false',  description='Launch RTAB-Map UI (optional).'),
        DeclareLaunchArgument('rviz',         default_value='true',   description='Launch RVIZ (optional).'),
+        DeclareLaunchArgument('find_object_gui', default_value='true', description='Show the Find-Object window (false: headless).'),
        DeclareLaunchArgument('localization', default_value='false',  description='Launch in localization mode.'),
        DeclareLaunchArgument('rviz_cfg', default_value=config_rviz,  description='Configuration path of rviz2.'),

@@ -73,12 +83,16 @@ def generate_launch_description():
        # Uncompress images for find_object
        Node(
            package='image_transport', executable='republish', name='republish_rgb', output='screen',
+            # The transports: as arguments up to humble, as parameters from jazzy.
            arguments=['compressed', 'raw'],
+            parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}],
            remappings=[('in/compressed', '/camera/data_throttled_image/compressed'),
                        ('out',           '/camera/data_throttled_image')]),
        Node(
            package='image_transport', executable='republish', name='republish_depth', output='screen',
+            # The transports: as arguments up to humble, as parameters from jazzy.
            arguments=['compressedDepth', 'raw'],
+            parameters=[{'in_transport': 'compressedDepth', 'out_transport': 'raw'}],
            remappings=[('in/compressedDepth', '/camera/data_throttled_image_depth/compressedDepth'),
                        ('out',                '/camera/data_throttled_image_depth')]),
        
@@ -119,11 +133,15 @@ def generate_launch_description():
        # Find-Object
        Node(
            package='find_object_2d', executable='find_object_2d', output='screen',
-            parameters=[{'gui': True,
+            parameters=[{'gui': LaunchConfiguration('find_object_gui'),
                         'subscribe_depth': True,
                         'settings_path': config_find_object,
                         'objects_path': data_find_object}],
            remappings=[('rgb/image_rect_color', '/camera/data_throttled_image'),
                        ('depth_registered/image_raw', '/camera/data_throttled_image_depth'),
                        ('depth_registered/camera_info', '/camera/data_throttled_camera_info')]),
+        # Its detections as landmarks for rtabmap (landmark_detections)
+        Node(
+            package='rtabmap_demos', executable='find_object_to_landmarks.py', output='screen',
+            parameters=[parameters]),
    ])
@@ -87,6 +87,10 @@ def generate_launch_description():
            'robot_ns', default_value='a200_0000',
            description='Robot namespace.'),

+        DeclareLaunchArgument(
+            'rtabmap_viz', default_value='true', choices=['true', 'false'],
+            description='Start rtabmap_viz.'),
+
        # Nodes to launch
        Node(
            package='rtabmap_sync', executable='rgbd_sync', output='screen',
@@ -121,6 +125,7 @@ def generate_launch_description():
            remappings=remappings),

        Node(
+            condition=IfCondition(LaunchConfiguration('rtabmap_viz')),
            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
            namespace=robot_ns,
            parameters=[rtabmap_parameters, shared_parameters,
@@ -100,6 +100,10 @@ def generate_launch_description():
            'robot_ns', default_value='a200_0000',
            description='Robot namespace.'),

+        DeclareLaunchArgument(
+            'rtabmap_viz', default_value='true', choices=['true', 'false'],
+            description='Start rtabmap_viz.'),
+
        DeclareLaunchArgument(
            'use_camera', default_value='true',
            description='Use camera for global loop closure / re-localization.'),
@@ -139,6 +143,7 @@ def generate_launch_description():
            remappings=remappings),

        Node(
+            condition=IfCondition(LaunchConfiguration('rtabmap_viz')),
            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
            namespace=robot_ns,
            parameters=[rtabmap_parameters, shared_parameters,
@@ -25,6 +25,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition
 from launch_ros.actions import Node


@@ -97,6 +98,10 @@ def generate_launch_description():
            'robot_ns', default_value='a200_0000',
            description='Robot namespace.'),

+        DeclareLaunchArgument(
+            'rtabmap_viz', default_value='true', choices=['true', 'false'],
+            description='Start rtabmap_viz.'),
+
        # Nodes to launch
        Node(
            package='rtabmap_sync', executable='rgbd_sync', output='screen',
@@ -127,6 +132,7 @@ def generate_launch_description():
            arguments=['-d']),

        Node(
+            condition=IfCondition(LaunchConfiguration('rtabmap_viz')),
            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
            namespace=robot_ns,
            parameters=[rtabmap_parameters, shared_parameters,
@@ -1,10 +1,10 @@
 # Requirements:
 #   Download one or more rosbags:
-#    * map1.db3: https://drive.google.com/file/d/1XajzWm0u1Tk7m7x63ybcKVMXj80r5P6r/view?usp=drive_link
-#    * map2.db3: https://drive.google.com/file/d/1_FxEalE2O-DQKq2tRpLIpDn5Mbvu0jZc/view?usp=drive_link
-#    * map3.db3: https://drive.google.com/file/d/1dJzMOoRPA28gQZUIWCeAa08Qn4wG9oRw/view?usp=drive_link
-#    * map4.db3: https://drive.google.com/file/d/19Y6yye0ndIIwdhEWMwTdoiSy9WlKS44c/view?usp=drive_link
-#    * map5.db3: https://drive.google.com/file/d/1zCx4Q4SftPplQtW1xeG-W3OkbTxwd5GD/view?usp=drive_link
+#    * map1_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map1_bag.zip
+#    * map2_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map2_bag.zip
+#    * map3_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map3_bag.zip
+#    * map4_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map4_bag.zip
+#    * map5_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/map5_bag.zip
 #
 # Example:
 #
@@ -13,12 +13,12 @@
 #     $ ros2 launch rtabmap_demos multisession_mapping_demo.launch.py
 #
 #   Rosbag:
-#     $ ros2 bag play map1.db3 --clock
+#     $ ros2 bag play map1_bag --clock
 #     when done, you can play the next bag(s):
-#     $ ros2 bag play map2.db3 --clock
-#     $ ros2 bag play map3.db3 --clock
-#     $ ros2 bag play map4.db3 --clock
-#     $ ros2 bag play map5.db3 --clock
+#     $ ros2 bag play map2_bag --clock
+#     $ ros2 bag play map3_bag --clock
+#     $ ros2 bag play map4_bag --clock
+#     $ ros2 bag play map5_bag --clock
 #
 # Refer to this paper for more info: https://arxiv.org/abs/2407.15305
 #
@@ -0,0 +1,151 @@
+# Description:
+#   3D lidar SLAM with an Ouster OS1-32 turning on a motorized mast (a dynamixel
+#   joint), carried by a drone frame. The mast rotation sweeps the lidar's 32 beams
+#   over the whole sphere, but it also moves the lidar by a few degrees during each
+#   sweep: scans are deskewed point by point with TF, using the IMU orientation for
+#   the base and the joint states for the mast. This is rtabmap_examples'
+#   lidar3d_assemble.launch.py, set up for the bag: scans are assembled over half a
+#   turn of the mast, so each node of the map holds a full sphere.
+#
+#   Note: the camera's rotation relative to the lidar (box_link -> camera_link in the
+#   bags' TF) was calibrated with rtabmap's rtabmap-lidarCameraCalibration tool; its
+#   translation is as measured.
+#
+# Requirements:
+#   Download one or more rosbags, the consecutive minutes of the same run:
+#    * netherdrone_ouster_vertige_bag_0.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_0.zip
+#    * netherdrone_ouster_vertige_bag_1.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_1.zip
+#    * netherdrone_ouster_vertige_bag_2.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_2.zip
+#    * netherdrone_ouster_vertige_bag_3.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_3.zip
+#    * netherdrone_ouster_vertige_bag_4.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_4.zip
+#    * netherdrone_ouster_vertige_bag_5.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/netherdrone_ouster_vertige_bag_5.zip
+#
+# Example:
+#
+#   SLAM:
+#     $ ros2 launch rtabmap_demos netherdrone_lidar3d_demo.launch.py
+#
+#   Rosbag:
+#     $ ros2 bag play netherdrone_ouster_vertige_bag_0 --clock
+#     or, to play the bags one after the other:
+#     $ ros2 bag play netherdrone_ouster_vertige_bag_0 --clock && \
+#       ros2 bag play netherdrone_ouster_vertige_bag_1 --clock && \
+#       ros2 bag play netherdrone_ouster_vertige_bag_2 --clock && \
+#       ros2 bag play netherdrone_ouster_vertige_bag_3 --clock && \
+#       ros2 bag play netherdrone_ouster_vertige_bag_4 --clock && \
+#       ros2 bag play netherdrone_ouster_vertige_bag_5 --clock
+#
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    lidar3d_assemble_launch = os.path.join(
+        get_package_share_directory('rtabmap_examples'), 'launch', 'lidar3d_assemble.launch.py')
+    config_rviz = os.path.join(
+        get_package_share_directory('rtabmap_demos'), 'config', 'demo_lidar3d.rviz')
+    config_rtabmap_viz = os.path.join(
+        get_package_share_directory('rtabmap_demos'), 'config', 'demo_lidar3d_gui.ini')
+
+    camera = LaunchConfiguration('camera')
+    rgbd_image_topic = PythonExpression(
+        ["'/camera/rgbd_image' if '", camera, "'.lower() == 'true' else ''"])
+
+
+    return LaunchDescription([
+
+        # Launch arguments
+        DeclareLaunchArgument('rtabmap_viz', default_value='true', description='Launch RTAB-Map UI (optional).'),
+        DeclareLaunchArgument('rtabmap_viz_cfg', default_value=config_rtabmap_viz, description='Configuration path of rtabmap_viz.'),
+        DeclareLaunchArgument('rviz', default_value='true', description='Launch RVIZ (optional).'),
+        DeclareLaunchArgument('rviz_cfg', default_value=config_rviz, description='Configuration path of rviz2.'),
+        DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
+        DeclareLaunchArgument('voxel_size', default_value='0.3',
+                              description='Voxel size (m) of the downsampled lidar point cloud. In this bag, the median range is 5-7 m and the farthest points are ~23 m.'),
+        DeclareLaunchArgument('camera', default_value='true',
+                              description='Add the camera images to the map, with a depth made from the lidar, for visual loop closure detection (bag-of-words). Registration stays lidar only.'),
+        DeclareLaunchArgument('lidar_range_min', default_value='0.84',
+                              description='Lidar points closer than this (m) are ignored. About 6% of each scan hits the drone itself, all within 0.6 m; the surroundings start at ~0.9 m.'),
+        DeclareLaunchArgument('assembler_voxel_size', default_value='0.05',
+                              description='Voxel size (m) of the assembled clouds added to the map; 0 keeps every point (larger database, e.g., for camera-lidar calibration).'),
+        DeclareLaunchArgument('assembling_time', default_value='4.3',
+                              description='How long (s) scans are assembled before being added to the map. The mast turns at 42 deg/s: 4.3 s is half a turn, in which the lidar\'s scanning plane sweeps the whole sphere.'),
+        DeclareLaunchArgument('intermediate_nodes', default_value='false',
+                              description='Also save every odometry pose (10 Hz) between the map\'s nodes in the database.'),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(lidar3d_assemble_launch),
+            launch_arguments={
+                'use_sim_time': 'true',
+                'frame_id': 'base_link',
+                'lidar_topic': '/os_cloud_node/points',
+                # The fixed frame for deskewing (base_link_stabilized) is made from its
+                # orientation.
+                'imu_topic': '/imu/data_filtered',
+                'voxel_size': LaunchConfiguration('voxel_size'),
+                'max_correspondence_distance': '1.0',
+                'icp_outlier_ratio': '0.3',
+                'odom_key_frame_threshold': '0.9',
+                'min_loop_closure_overlap': '0.1',
+                'odom_local_map_size': '20000',
+                'assembler_voxel_size': LaunchConfiguration('assembler_voxel_size'),
+                'rgbd_image_topic': rgbd_image_topic,
+                # The images are raw (k1=-0.34): rectify them, so that the lidar projected
+                # into them as their depth (gen_depth) lines up.
+                'rectify_images': 'true',
+                'gen_depth': camera,
+                'lidar_range_min': LaunchConfiguration('lidar_range_min'),
+                'expected_update_rate': '15.0',  # the Ouster runs at 10 Hz
+                'assembling_time': LaunchConfiguration('assembling_time'),
+                # Look TF up at every point's own time ("t" field) rather than
+                # interpolating between the first and last points of the sweep: exact,
+                # for more TF lookups.
+                'deskewing_slerp': 'false',
+                'rtabmap_viz': LaunchConfiguration('rtabmap_viz'),
+                'rtabmap_viz_cfg': LaunchConfiguration('rtabmap_viz_cfg'),
+                'localization': LaunchConfiguration('localization'),
+                'intermediate_nodes': LaunchConfiguration('intermediate_nodes'),
+            }.items()),
+
+        # Camera image and calibration, together in one topic for rtabmap. Both have
+        # the same stamps. The camera has no depth: rtabmap makes it from the lidar.
+        Node(
+            condition=IfCondition(camera),
+            package='rtabmap_sync', executable='rgb_sync', output='screen',
+            parameters=[{
+                'use_sim_time': True,
+                'approx_sync': False,
+                'image_transport': 'compressed'}],
+            remappings=[('rgb/image', '/camera/image_raw'),
+                        ('rgb/camera_info', '/camera/camera_info'),
+                        ('rgbd_image', '/camera/rgbd_image')]),
+
+        # Orientation from the gyro and accelerometer of /imu/data_raw. Its own
+        # orientation (despite the name, it has one) is off from the accelerometer by a
+        # constant ~2 deg in roll and ~4 deg in pitch, so it is not used.
+        Node(
+            package='imu_complementary_filter', executable='complementary_filter_node', output='screen',
+            parameters=[{
+                'use_sim_time': True,
+                'use_mag': False,
+                'publish_tf': False,
+                'do_bias_estimation': True,
+                'do_adaptive_gain': True}],
+            remappings=[('imu/data_raw', '/imu/data_raw'),
+                        ('imu/data', '/imu/data_filtered')]),
+
+        Node(
+            package='rviz2', executable='rviz2', name='rviz2', output='screen',
+            condition=IfCondition(LaunchConfiguration('rviz')),
+            parameters=[{'use_sim_time': True}],
+            arguments=['-d', LaunchConfiguration('rviz_cfg')]),
+    ])
@@ -1,6 +1,6 @@
 # Requirements:
 #   Download rosbag:
-#    * demo_mapping.db3: https://drive.google.com/file/d/1v9qJ2U7GlYhqBJr7OQHWbDSCfgiVaLWb/view?usp=drive_link
+#    * demo_mapping_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/demo_mapping_bag.zip
 #
 # Example:
 #
@@ -8,7 +8,7 @@
 #     $ ros2 launch rtabmap_demos robot_mapping_demo.launch.py rviz:=true rtabmap_viz:=true
 #
 #   Rosbag:
-#     $ ros2 bag play demo_mapping.db3 --clock
+#     $ ros2 bag play demo_mapping_bag --clock
 #

 from launch import LaunchDescription
@@ -43,11 +43,11 @@ def generate_launch_description():
          'RGBD/OptimizeFromGraphEnd': 'false',   # Optimize graph from initial node so /map -> /odom transform will be generated
          'RGBD/OptimizeMaxError':     '4',       # Reject any loop closure causing large errors (>3x link's covariance) in the map
          'Reg/Force3DoF':             'true',    # 2D SLAM
-          'Grid/FromDepth':            'false',   # Create 2D occupancy grid from laser scan
+          'Grid/Sensor':               '0',       # Create 2D occupancy grid from laser scan
          'Mem/STMSize':               '30',      # increased to 30 to avoid adding too many loop closures on just seen locations
          'RGBD/LocalRadius':          '5',       # limit length of proximity detections
          'Icp/CorrespondenceRatio':   '0.2',     # minimum scan overlap to accept loop closure
-          'Icp/PM':                    'false',
+          'Icp/Strategy':              '0',       # 0=PCL, 1=libpointmatcher
          'Icp/PointToPlane':          'false',
          'Icp/MaxCorrespondenceDistance': '0.15',
          'Icp/VoxelSize':             '0.05'
@@ -1,7 +1,7 @@
 # Requirements:
 #   Download one or both rosbags:
-#    * stereo_outdoorA.db3: https://drive.google.com/file/d/1O7mCXg_sw4tZY1S88a-n96O6OulmqvqI/view?usp=drive_link
-#    * stereo_outdoorB.db3: https://drive.google.com/file/d/1mSu7418Fkbe-hIz2-3Mi936PrWuD2un_/view?usp=drive_link
+#    * stereo_outdoorA_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorA_bag.zip
+#    * stereo_outdoorB_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorB_bag.zip
 #
 # Example:
 #
@@ -9,9 +9,9 @@
 #     $ ros2 launch rtabmap_demos stereo_outdoor_demo.launch.py  rviz:=true rtabmap_viz:=true
 #
 #   Rosbag:
-#     $ ros2 bag play stereo_outdoorA.db3 --clock
+#     $ ros2 bag play stereo_outdoorA_bag --clock
 #     when done, you can play the secon bag:
-#     $ ros2 bag play stereo_outdoorB.db3 --clock
+#     $ ros2 bag play stereo_outdoorB_bag --clock
 #

 from launch import LaunchDescription
@@ -44,6 +44,7 @@ def generate_launch_description():
          'OdomF2M/MaxSize': '1000',
          'GFTT/MinDistance': '10',
          'GFTT/QualityLevel': '0.00001',
+          'Optimizer/Iterations': '30', # With g2o (rtabmap built without GTSAM), Levenberg-Marquardt needs ~25 iterations to converge on this graph
          #'Kp/DetectorStrategy': '6', # Uncommment to match ros1 noetic results, but opencv should be built with xfeatures2d
          #'Vis/FeatureType': '6'      # Uncommment to match ros1 noetic results, but opencv should be built with xfeatures2d
    }
@@ -72,13 +73,17 @@ def generate_launch_description():
        Node(
            package='image_transport', executable='republish', name='republish_left', output='screen',
            namespace='stereo_camera',
+            # The transports: as arguments up to humble, as parameters from jazzy.
            arguments=['compressed', 'raw'],
+            parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}],
            remappings=[('in/compressed', 'left/image_raw_throttle/compressed'),
                        ('out',           'left/image_raw')]),
        Node(
            package='image_transport', executable='republish', name='republish_right', output='screen',
            namespace='stereo_camera',
+            # The transports: as arguments up to humble, as parameters from jazzy.
            arguments=['compressed', 'raw'],
+            parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}],
            remappings=[('in/compressed', 'right/image_raw_throttle/compressed'),
                        ('out',           'right/image_raw')]),

@@ -1,7 +1,7 @@
 # Requirements:
 #   Download one or both rosbags:
-#    * stereo_outdoorA.db3: https://drive.google.com/file/d/1O7mCXg_sw4tZY1S88a-n96O6OulmqvqI/view?usp=drive_link
-#    * stereo_outdoorB.db3: https://drive.google.com/file/d/1mSu7418Fkbe-hIz2-3Mi936PrWuD2un_/view?usp=drive_link
+#    * stereo_outdoorA_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorA_bag.zip
+#    * stereo_outdoorB_bag.zip: https://github.com/introlab/rtabmap_ros/releases/download/0.23.13/stereo_outdoorB_bag.zip
 #
 # This is the "composition" variant of stereo_outdoor_demo.launch.py: the whole
 # pipeline (image_proc rectification, stereo synchronization, visual odometry
@@ -16,9 +16,9 @@
 #     $ ros2 launch rtabmap_demos stereo_outdoor_demo_composition.launch.py  rviz:=true rtabmap_viz:=true
 #
 #   Rosbag:
-#     $ ros2 bag play stereo_outdoorA.db3 --clock
+#     $ ros2 bag play stereo_outdoorA_bag --clock
 #     when done, you can play the secon bag:
-#     $ ros2 bag play stereo_outdoorB.db3 --clock
+#     $ ros2 bag play stereo_outdoorB_bag --clock
 #

 from launch import LaunchDescription
@@ -123,13 +123,17 @@ def generate_launch_description():
        Node(
            package='image_transport', executable='republish', name='republish_left', output='screen',
            namespace='stereo_camera',
+            # The transports: as arguments up to humble, as parameters from jazzy.
            arguments=['compressed', 'raw'],
+            parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}],
            remappings=[('in/compressed', 'left/image_raw_throttle/compressed'),
                        ('out',           'left/image_raw')]),
        Node(
            package='image_transport', executable='republish', name='republish_right', output='screen',
            namespace='stereo_camera',
+            # The transports: as arguments up to humble, as parameters from jazzy.
            arguments=['compressed', 'raw'],
+            parameters=[{'in_transport': 'compressed', 'out_transport': 'raw'}],
            remappings=[('in/compressed', 'right/image_raw_throttle/compressed'),
                        ('out',           'right/image_raw')]),