i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-10 11:39:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added some composition examples

Browse Source
This commit is contained in:
matlabbe
2026-06-13 21:44:39 -07:00
parent aec4f91f61
commit a2b3747120
6 changed files with 775 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_examples/launch/zed.launch.py
+20 -6
View File
@@ -23,13 +23,26 @@ remappings = []
def launch_setup(context: LaunchContext, *args, **kwargs):
# Hack to override grab_resolution parameter without changing any files
use_zed_odometry = LaunchConfiguration('use_zed_odometry').perform(context) in ["True", "true"]
# Override some ZED parameters without changing any files:
# * grab_resolution: VGA
# * pos_tracking_enabled: disabled when rtabmap computes the odometry, so
# the ZED node does not publish the odom->camera_link TF (which would
# conflict with rtabmap's odometry). We still set publish_tf:=true below
# so the ZED node keeps broadcasting the IMU TF, which rtabmap needs
# (wait_imu_to_init). sensors.publish_imu_tf is ignored when publish_tf
# is false, and the IMU frame is not in the ZED URDF, so this is the only
# way to get the IMU TF while rtabmap owns the odometry.
pos_tracking_enabled = 'true' if use_zed_odometry else 'false'
with tempfile.NamedTemporaryFile(mode='w+t', delete=False) as zed_override_file:
zed_override_file.write("---\n"+
"/**:\n"+
" ros__parameters:\n"+
" general:\n"+
" grab_resolution: 'VGA'")
" grab_resolution: 'VGA'\n"+
" pos_tracking:\n"+
" pos_tracking_enabled: "+pos_tracking_enabled)
parameters=[{'frame_id':'zed_camera_link',
'subscribe_rgbd':True,
@@ -38,7 +51,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
remappings=[('imu', '/zed/zed_node/imu/data')]
if LaunchConfiguration('use_zed_odometry').perform(context) in ["True", "true"]:
if use_zed_odometry:
remappings.append(('odom', '/zed/zed_node/odom'))
else:
parameters.append({'subscribe_odom_info': True})
@@ -51,7 +64,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
'/zed_camera.launch.py']),
launch_arguments={'camera_model': LaunchConfiguration('camera_model'),
'ros_params_override_path': zed_override_file.name,
'publish_tf': LaunchConfiguration('use_zed_odometry'),
'publish_tf': 'true',
'publish_imu_tf': 'true',
'publish_map_tf': 'false'}.items(),
),
@@ -59,8 +73,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
Node(
package='rtabmap_sync', executable='rgbd_sync', output='screen',
parameters=parameters,
remappings=[('rgb/image', '/zed/zed_node/rgb/image_rect_color'),
('rgb/camera_info', '/zed/zed_node/rgb/camera_info'),
remappings=[('rgb/image', '/zed/zed_node/rgb/color/rect/image'),
('rgb/camera_info', '/zed/zed_node/rgb/color/rect/camera_info'),
('depth/image', '/zed/zed_node/depth/depth_registered')]),
# Visual odometry