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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_turtlebot3_navigation.launch
+6 -6
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@@ -11,13 +11,13 @@
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
$ export TURTLEBOT3_MODEL=waffle
$ roslaunch rtabmap_ros demo_turtlebot3_navigation.launch
$ roslaunch rtabmap_demos demo_turtlebot3_navigation.launch
-->
<!-- Arguments -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="open_rviz" default="true"/>
<arg name="rtabmapviz" default="true"/>
<arg name="rtabmap_viz" default="true"/>
<arg name="move_forward_only" default="false"/>
<arg name="with_camera" default="true"/>
@@ -32,13 +32,13 @@
</include>
<group ns="rtabmap">
<node if="$(eval model=='waffle')" pkg="rtabmap_ros" type="rgbd_sync" name="rgbd_sync" output="screen">
<node if="$(eval model=='waffle')" pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_raw"/>
<remap from="depth/image" to="/camera/depth/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_slam" 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 name="subscribe_rgb" type="bool" value="false"/>
@@ -70,8 +70,8 @@
<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 $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<!-- visualization with rtabmap_viz -->
<node if="$(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_scan" type="bool" value="true"/>
<param name="subscribe_odom" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>