From 986ed79d35b0fb6e77eb2a1e2723954d75f27941 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 3 Sep 2019 20:13:06 -0400
Subject: [PATCH] Added demo_turtlebot3_navigation.launch example

---
 launch/demo/demo_turtlebot3_navigation.launch | 91 +++++++++++++++++++
 1 file changed, 91 insertions(+)
 create mode 100644 launch/demo/demo_turtlebot3_navigation.launch

diff --git a/launch/demo/demo_turtlebot3_navigation.launch b/launch/demo/demo_turtlebot3_navigation.launch
new file mode 100644
index 00000000..2acb0e9e
--- /dev/null
+++ b/launch/demo/demo_turtlebot3_navigation.launch
@@ -0,0 +1,91 @@
+<launch>
+  <!--
+    $ sudo apt install ros-melodic-turtlebot3* ros-melodic-dwa-local-planner
+    To avoid TF warning about leading '/' in frame name, remove it in:
+       - "/opt/ros/melodic/share/turtlebot3_navigation/param/global_costmap_params.yaml"
+       - "/opt/ros/melodic/share/turtlebot3_navigation/param/local_costmap_params.yaml"
+
+    Example Gazebo:
+    $ export TURTLEBOT3_MODEL=waffle
+    $ roslaunch turtlebot3_gazebo turtlebot3_world.launch
+
+    $ export TURTLEBOT3_MODEL=waffle
+    $ roslaunch rtabmap_ros demo_turtlebot3_navigation.launch
+  -->
+
+  <!-- Arguments -->
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="open_rviz" default="true"/>
+  <arg name="rtabmapviz" default="true"/>
+  <arg name="move_forward_only" default="false"/>
+
+  <arg name="with_camera" default="true"/>
+  <arg name="localization" default="false"/>
+  <arg name="database_path" default="~/.ros/rtabmap.db"/>
+  <arg     if="$(arg localization)" name="rtabmap_args" default=""/>
+  <arg unless="$(arg localization)" name="rtabmap_args" default="-d"/>
+
+  <!-- Turtlebot3 -->
+  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
+    <arg name="model" value="$(arg model)" />
+  </include>
+
+  <group ns="rtabmap">
+    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
+	  <param name="database_path"       type="string" value="$(arg database_path)"/>
+	  <param name="frame_id"            type="string" value="base_footprint"/>
+          <param     if="$(eval model=='waffle')" name="subscribe_rgb" type="bool" value="true"/>
+          <param unless="$(eval model=='waffle')" name="subscribe_rgb" type="bool" value="false"/>
+          <param     if="$(eval model=='waffle')" name="subscribe_depth" type="bool" value="true"/>
+          <param unless="$(eval model=='waffle')" name="subscribe_depth" type="bool" value="false"/>
+	  <param name="subscribe_scan"      type="bool"   value="true"/>
+          <param name="approx_sync"         type="bool"   value="true"/>
+
+          <!-- use actionlib to send goals to move_base --> 
+	  <param name="use_action_for_goal" type="bool" value="true"/>
+          <remap from="move_base"            to="/move_base"/>
+	
+	  <!-- inputs -->
+	  <remap from="scan"            to="/scan"/>
+	  <remap from="odom"            to="/odom"/>
+	  <remap from="rgb/image"       to="/camera/rgb/image_raw"/>
+  	  <remap from="depth/image"     to="/camera/depth/image_raw"/>
+  	  <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
+
+  	  <!-- output -->
+  	  <remap from="grid_map" to="/map"/>
+	
+	  <!-- RTAB-Map's parameters -->
+	  <param name="Reg/Strategy"                 type="string" value="1"/>
+	  <param name="Reg/Force3DoF"                type="string" value="true"/>
+	  <param name="GridGlobal/MinSize"           type="string" value="20"/>
+
+	  <!-- localization mode -->
+	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
+	  <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
+    </node>
+
+    <!-- visualization with rtabmapviz -->
+    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
+      <param name="subscribe_scan"   type="bool"   value="true"/>
+      <param name="subscribe_odom"   type="bool"   value="true"/>
+      <param name="frame_id"         type="string" value="base_footprint"/>
+      <param name="approx_sync"      type="bool"   value="true"/>
+
+      <remap from="odom"            to="/odom"/>
+      <remap from="scan"            to="/scan"/>
+    </node>
+  </group>
+
+  <!-- move_base -->
+  <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
+    <arg name="model" value="$(arg model)" />
+    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
+  </include>
+
+  <!-- rviz -->
+  <group if="$(arg open_rviz)"> 
+    <node pkg="rviz" type="rviz" name="rviz" required="true"
+          args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
+  </group>
+</launch>