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

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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/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