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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_turtlebot_tango.launch
+7 -7
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@@ -6,10 +6,10 @@
$ roslaunch turtlebot_bringup minimal.launch
Mapping:
$ roslaunch rtabmap_ros demo_turtlebot_tango.launch
$ roslaunch rtabmap_demos demo_turtlebot_tango.launch
Visualization:
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
$ roslaunch rtabmap_demos demo_turtlebot_rviz.launch
This launch file is a one to one replacement of the gmapping_demo.launch in the
"SLAM Map Building with TurtleBot" tutorial:
@@ -25,7 +25,7 @@
<arg name="database_path" default="rtabmap.db"/>
<arg name="tango_odometry" default="true"/>
<arg name="localization" default="false"/>
<arg name="rtabmapviz" default="false"/>
<arg name="rtabmap_viz" default="false"/>
<arg if="$(arg localization)" name="args" default=""/>
<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
@@ -41,7 +41,7 @@
<node unless="$(arg tango_odometry)" pkg="tf" type="static_transform_publisher" name="base_device_link" args="0 0 0.3 0 0 0 device base_link 100" />
<!-- Generate registered depth image -->
<node name="pointcloud_to_depthimage" pkg="rtabmap_ros" type="pointcloud_to_depthimage">
<node name="pointcloud_to_depthimage" pkg="rtabmap_util" type="pointcloud_to_depthimage">
<remap from="cloud" to="/tango/point_cloud"/>
<remap from="image" to="/tango/registered_depth"/>
<remap from="camera_info" to="/tango/camera/color_1/camera_info"/>
@@ -61,7 +61,7 @@
<!-- Mapping -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg args)">
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
@@ -104,8 +104,8 @@
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
<!-- visualization with rtabmapviz -->
<node if="$(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_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>