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Updated rtabmap_demos launch files with new structure.

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matlabbe
2023-03-04 14:24:18 -08:00
parent 523b4c6e6a
commit a7675b7c09
28 changed files with 166 additions and 152 deletions
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rtabmap_demos/launch/demo_hector_mapping.launch
+7 -7
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@@ -10,7 +10,7 @@
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="rtabmap_viz" default="false" />
<!-- Choose hector_slam or icp_odometry for odometry -->
<arg name="hector" default="true" />
@@ -64,7 +64,7 @@
</node>
<!-- If argument "hector" is false, we use rtabmap's icp odometry to generate odometry for us -->
<node unless="$(arg hector)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen" >
<node unless="$(arg hector)" pkg="rtabmap_odom" type="icp_odometry" name="icp_odometry" output="screen" >
<remap from="scan" to="/jn0/base_scan"/>
<remap from="odom" to="/scanmatch_odom"/>
<remap from="odom_info" to="/rtabmap/odom_info"/>
@@ -95,7 +95,7 @@
</node>
<group ns="rtabmap">
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_sync/rgbd_sync" output="screen">
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
@@ -105,7 +105,7 @@
<!-- SLAM -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_rgb" type="bool" value="false"/>
@@ -134,7 +134,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_rgbd" type="bool" value="$(arg camera)"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
@@ -151,8 +151,8 @@
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node if="$(arg camera)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_util/point_cloud_xyzrgb">
<remap from="rgbd_image" to="/rtabmap/rgbd_image"/>
<remap from="cloud" to="voxel_cloud" />