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merged master->ros2

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matlabbe
2022-10-01 18:09:19 -07:00
parent 4fb73b4279 5024574e4a
commit 99b9891ab8
57 changed files with 1988 additions and 1096 deletions
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launch/ros2/config/rgbd.rviz
+42 -47
View File
@@ -118,32 +118,30 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
map:
Value: true
oak-d-base-frame:
Value: true
oak-d_frame:
Value: true
oak_imu_frame:
Value: true
oak_left_camera_frame:
Value: true
oak_left_camera_optical_frame:
Value: true
oak_model_origin:
Value: true
oak_rgb_camera_frame:
Value: true
oak_rgb_camera_optical_frame:
Value: true
oak_right_camera_frame:
Value: true
oak_right_camera_optical_frame:
Value: true
odom:
Value: true
zed2_baro_link:
Value: true
zed2_camera_center:
Value: true
zed2_imu_link:
Value: true
zed2_left_camera_frame:
Value: true
zed2_left_camera_optical_frame:
Value: true
zed2_mag_link:
Value: true
zed2_right_camera_frame:
Value: true
zed2_right_camera_optical_frame:
Value: true
zed2_temp_left_link:
Value: true
zed2_temp_right_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
@@ -152,23 +150,20 @@ Visualization Manager:
Tree:
map:
odom:
base_link:
zed2_camera_center:
zed2_baro_link:
oak-d-base-frame:
oak-d_frame:
oak_imu_frame:
{}
zed2_left_camera_frame:
zed2_imu_link:
oak_left_camera_frame:
oak_left_camera_optical_frame:
{}
zed2_left_camera_optical_frame:
{}
zed2_temp_left_link:
{}
zed2_mag_link:
oak_model_origin:
{}
zed2_right_camera_frame:
zed2_right_camera_optical_frame:
oak_rgb_camera_frame:
oak_rgb_camera_optical_frame:
{}
zed2_temp_right_link:
oak_right_camera_frame:
oak_right_camera_optical_frame:
{}
Update Interval: 0
Value: true
@@ -300,26 +295,26 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rviz_default_plugins/ThirdPersonFollower
Distance: 1.8979769945144653
Class: rviz_default_plugins/Orbit
Distance: 1.935564398765564
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
X: 0.024472296237945557
Y: 0.1059575080871582
Z: 0.36562198400497437
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.09539937227964401
Target Frame: base_link
Value: ThirdPersonFollower (rviz_default_plugins)
Yaw: 3.110400915145874
Pitch: 0.14039947092533112
Target Frame: map
Value: Orbit (rviz_default_plugins)
Yaw: 3.175398111343384
Saved: ~
Window Geometry:
Displays:
@@ -335,5 +330,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1335
X: 211
Y: 105
X: 481
Y: 199
launch/ros2/rtabmap.launch.py
+8 -2
View File
@@ -85,6 +85,7 @@ def launch_setup(context, *args, **kwargs):
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' != 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
parameters=[{
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
@@ -118,6 +119,7 @@ def launch_setup(context, *args, **kwargs):
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
parameters=[{
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_camera_info": LaunchConfiguration('qos_camera_info')}],
@@ -160,6 +162,7 @@ def launch_setup(context, *args, **kwargs):
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
@@ -193,6 +196,7 @@ def launch_setup(context, *args, **kwargs):
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
@@ -351,7 +355,8 @@ def launch_setup(context, *args, **kwargs):
parameters=[{
"decimation": 4,
"voxel_size": 0.0,
"approx_sync": LaunchConfiguration('approx_sync')
"approx_sync": LaunchConfiguration('approx_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval')
}],
remappings=[
('left/image', LaunchConfiguration('left_image_topic_relay')),
@@ -403,7 +408,8 @@ def generate_launch_description():
DeclareLaunchArgument('ground_truth_frame_id', default_value='', description='e.g., "world"'),
DeclareLaunchArgument('ground_truth_base_frame_id', default_value='', description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree)'),
DeclareLaunchArgument('approx_sync', default_value='false', description='If timestamps of the input topics should be synchronized using approximate or exact time policy.'),
DeclareLaunchArgument('approx_sync', default_value='false', description='If timestamps of the input topics should be synchronized using approximate or exact time policy.'),
DeclareLaunchArgument('approx_sync_max_interval', default_value='0.0', description='(sec) 0 means infinite interval duration (used with approx_sync=true)'),
# RGB-D related topics
DeclareLaunchArgument('rgb_topic', default_value='/camera/rgb/image_rect_color', description=''),