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Merged master to ros2. ros2: Uniformized qos of all subscribers and publishers.

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This commit is contained in:
matlabbe
2021-10-04 19:29:19 -04:00
parent ccf152d877 1ecce15878
commit af1c7edeef
121 changed files with 10854 additions and 3478 deletions
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launch/ros2/rtabmap.launch.py
+9 -5
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@@ -1,3 +1,7 @@
#
# To avoid log buffering:
# "stdbuf -o L ros2 launch rtabmap_ros rtabmap.launch.py ..."
#
from launch import LaunchDescription, Substitution, LaunchContext
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, LogInfo, OpaqueFunction
@@ -137,7 +141,7 @@ def launch_setup(context, *args, **kwargs):
"publish_tf": LaunchConfiguration('publish_tf_odom'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
"wait_for_transform_duration": LaunchConfiguration('wait_for_transform'),
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg'),
@@ -167,7 +171,7 @@ def launch_setup(context, *args, **kwargs):
"publish_tf": LaunchConfiguration('publish_tf_odom'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
"wait_for_transform_duration": LaunchConfiguration('wait_for_transform'),
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg'),
@@ -198,7 +202,7 @@ def launch_setup(context, *args, **kwargs):
"publish_tf": LaunchConfiguration('publish_tf_odom'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
"wait_for_transform_duration": LaunchConfiguration('wait_for_transform'),
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg'),
@@ -235,7 +239,7 @@ def launch_setup(context, *args, **kwargs):
"odom_tf_angular_variance": LaunchConfiguration('odom_tf_angular_variance'),
"odom_tf_linear_variance": LaunchConfiguration('odom_tf_linear_variance'),
"odom_sensor_sync": LaunchConfiguration('odom_sensor_sync'),
"wait_for_transform_duration": LaunchConfiguration('wait_for_transform'),
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"database_path": LaunchConfiguration('database_path'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg'),
@@ -280,7 +284,7 @@ def launch_setup(context, *args, **kwargs):
"subscribe_odom_info": ConditionalBool(True, False, IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' == 'true' or '", LaunchConfiguration('visual_odometry'), "' == 'true'"]))._predicate_func(context)).perform(context),
"frame_id": LaunchConfiguration('frame_id'),
"odom_frame_id": LaunchConfiguration('odom_frame_id'),
"wait_for_transform_duration": LaunchConfiguration('wait_for_transform'),
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"approx_sync": LaunchConfiguration('approx_sync'),
"queue_size": LaunchConfiguration('queue_size')
}],
launch/ros2/turtlebot3_rgbd.launch.py
+2
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@@ -2,7 +2,9 @@
# Install Turtlebot3 packages
# Install https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense
# Example:
# $ export TURTLEBOT3_MODEL=waffle
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
# $ ros2 run turtlebot3_teleop teleop_keyboard
#
# $ ros2 launch rtabmap_ros turtlebot3_rgbd.launch.py
# OR
launch/ros2/turtlebot3_rgbd_sync.launch.py
+6 -2
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@@ -2,11 +2,13 @@
# Install Turtlebot3 packages
# Install https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense
# Example:
# $ export TURTLEBOT3_MODEL=waffle
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
# $ ros2 run turtlebot3_teleop teleop_keyboard
#
# $ ros2 launch rtabmap_ros turtlebot3_rgbd_sync.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true approx_sync:=true odom_topic:=/odom args:="-d" use_sim_time:=true rgbd_sync:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" use_sim_time:=true rgbd_sync:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -22,7 +24,9 @@ def generate_launch_description():
'frame_id':'base_footprint',
'use_sim_time':use_sim_time,
'subscribe_rgbd':True,
'subscribe_scan':True}]
'subscribe_scan':True,
'Reg/Strategy':'1',
'RGBD/NeighborLinkRefining':'True'}]
remappings=[
('rgb/image', '/intel_realsense_r200_depth/image_raw'),
launch/ros2/turtlebot3_scan.launch.py
+3 -1
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@@ -1,11 +1,13 @@
# Requirements:
# Install Turtlebot3 packages
# Example:
# $ export TURTLEBOT3_MODEL=waffle
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
# $ ros2 run turtlebot3_teleop teleop_keyboard
#
# $ ros2 launch rtabmap_ros turtlebot3_scan.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d" use_sim_time:=true
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" use_sim_time:=true
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable