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Updated lidar3d examples with new option "rgbd_images_topic" to input multi-camera data.

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matlabbe
2025-06-07 13:31:50 -07:00
parent b6584b0a10
commit aa1e17b1c1
3 changed files with 39 additions and 7 deletions
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rtabmap_examples/launch/lidar3d_assemble_x2.launch.py
+12 -2
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@@ -42,7 +42,9 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
imu_topic = LaunchConfiguration('imu_topic')
rgbd_image_topic = LaunchConfiguration('rgbd_image_topic')
rgbd_image_used = rgbd_image_topic.perform(context) != ''
rgbd_images_topic = LaunchConfiguration('rgbd_images_topic')
rgbd_image_used = rgbd_image_topic.perform(context) != '' or rgbd_images_topic.perform(context) != ''
rgbd_cameras = 0 if rgbd_images_topic.perform(context) != '' else 1
lidar1_topic = LaunchConfiguration('lidar1_topic')
lidar1_topic_value = lidar1_topic.perform(context)
@@ -121,7 +123,10 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
remappings = [('imu', imu_topic),
('odom', 'icp_odom')]
if rgbd_image_used:
remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
if rgbd_cameras == 1:
remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
else:
remappings.append(('rgbd_images', LaunchConfiguration('rgbd_images_topic')))
arguments = []
if localization:
@@ -187,6 +192,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
package='rtabmap_slam', executable='rtabmap', output='screen',
parameters=[shared_parameters, rtabmap_parameters,
{'subscribe_rgbd': rgbd_image_used,
'rgbd_cameras': rgbd_cameras,
'topic_queue_size': 40,
'sync_queue_size': 40,}],
remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic'))],
@@ -265,6 +271,10 @@ def generate_launch_description():
'rgbd_image_topic', default_value='',
description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'),
DeclareLaunchArgument(
'rgbd_images_topic', default_value='',
description='RGBD images topic (ignored if empty, override "rgbd_image_topic" if set). Would be the output of a rtabmap_sync\'s rgbdx_sync node.'),
DeclareLaunchArgument(
'voxel_size', default_value='0.1',
description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),