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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/rtabmap.launch.py
+8 -2
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@@ -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=''),