mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
Fixed tf2_eigen missing from package.xml. Added "qos" parameter for all nodes subscribing to sensor data (#651).
This commit is contained in:
matlabbe
@@ -45,6 +45,13 @@ def launch_setup(context, *args, **kwargs):
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DeclareLaunchArgument('depth', default_value=ConditionalText('false', 'true', IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true'"]))._predicate_func(context)), description=''),
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DeclareLaunchArgument('subscribe_rgb', default_value=LaunchConfiguration('depth'), description=''),
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DeclareLaunchArgument('args', default_value=LaunchConfiguration('rtabmap_args'), description='Can be used to pass RTAB-Map\'s parameters or other flags like --udebug and --delete_db_on_start/-d'),
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DeclareLaunchArgument('qos_image', default_value=LaunchConfiguration('qos'), description='Specific QoS used for image input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_camera_info', default_value=LaunchConfiguration('qos'), description='Specific QoS used for camera info input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_scan', default_value=LaunchConfiguration('qos'), description='Specific QoS used for scan input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_odom', default_value=LaunchConfiguration('qos'), description='Specific QoS used for odometry input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_user_data', default_value=LaunchConfiguration('qos'), description='Specific QoS used for user input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_imu', default_value=LaunchConfiguration('qos'), description='Specific QoS used for imu input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_gps', default_value=LaunchConfiguration('qos'), description='Specific QoS used for gps input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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#These arguments should not be modified directly, see referred topics without "_relay" suffix above
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DeclareLaunchArgument('rgb_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('rgb_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('rgb_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
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@@ -79,6 +86,8 @@ def launch_setup(context, *args, **kwargs):
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parameters=[{
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"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
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"queue_size": LaunchConfiguration('queue_size'),
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"qos": LaunchConfiguration('qos_image'),
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"qos_camera_info": LaunchConfiguration('qos_camera_info'),
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"depth_scale": LaunchConfiguration('depth_scale')}],
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remappings=[
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("rgb/image", LaunchConfiguration('rgb_topic_relay')),
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@@ -109,7 +118,9 @@ def launch_setup(context, *args, **kwargs):
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condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
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parameters=[{
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"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
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"queue_size": LaunchConfiguration('queue_size')}],
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"queue_size": LaunchConfiguration('queue_size'),
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"qos": LaunchConfiguration('qos_image'),
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"qos_camera_info": LaunchConfiguration('qos_camera_info')}],
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remappings=[
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("left/image_rect", LaunchConfiguration('left_image_topic_relay')),
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("right/image_rect", LaunchConfiguration('right_image_topic_relay')),
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@@ -129,7 +140,8 @@ def launch_setup(context, *args, **kwargs):
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package='rtabmap_ros', executable='rgbd_relay', output="screen",
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condition=IfCondition(PythonExpression(["'", LaunchConfiguration('rgbd_sync'), "' != 'true' and '", LaunchConfiguration('subscribe_rgbd'), "' == 'true' and '", LaunchConfiguration('compressed'), "' == 'true'"])),
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parameters=[{
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"uncompress": True}],
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"uncompress": True,
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"qos": LaunchConfiguration('qos_image')}],
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remappings=[
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("rgbd_image", [LaunchConfiguration('rgbd_topic'), "/compressed"]),
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([LaunchConfiguration('rgbd_topic'), "/compressed_relay"], LaunchConfiguration('rgbd_topic_relay'))],
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@@ -150,6 +162,9 @@ def launch_setup(context, *args, **kwargs):
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"approx_sync": LaunchConfiguration('approx_sync'),
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"config_path": LaunchConfiguration('cfg'),
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"queue_size": LaunchConfiguration('queue_size'),
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"qos": LaunchConfiguration('qos_image'),
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"qos_camera_info": LaunchConfiguration('qos_camera_info'),
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"qos_imu": LaunchConfiguration('qos_imu'),
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"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
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"guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
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"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
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@@ -180,6 +195,9 @@ def launch_setup(context, *args, **kwargs):
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"approx_sync": LaunchConfiguration('approx_sync'),
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"config_path": LaunchConfiguration('cfg'),
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"queue_size": LaunchConfiguration('queue_size'),
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"qos": LaunchConfiguration('qos_image'),
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"qos_camera_info": LaunchConfiguration('qos_camera_info'),
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"qos_imu": LaunchConfiguration('qos_imu'),
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"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
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"guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
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"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
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@@ -211,6 +229,8 @@ def launch_setup(context, *args, **kwargs):
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"approx_sync": LaunchConfiguration('approx_sync'),
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"config_path": LaunchConfiguration('cfg'),
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"queue_size": LaunchConfiguration('queue_size'),
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"qos": LaunchConfiguration('qos_image'),
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"qos_imu": LaunchConfiguration('qos_imu'),
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"guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
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"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
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"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
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@@ -248,6 +268,13 @@ def launch_setup(context, *args, **kwargs):
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"approx_sync": LaunchConfiguration('approx_sync'),
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"config_path": LaunchConfiguration('cfg'),
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"queue_size": LaunchConfiguration('queue_size'),
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"qos_image": LaunchConfiguration('qos_image'),
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"qos_scan": LaunchConfiguration('qos_scan'),
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"qos_odom": LaunchConfiguration('qos_odom'),
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"qos_camera_info": LaunchConfiguration('qos_camera_info'),
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"qos_imu": LaunchConfiguration('qos_imu'),
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"qos_gps": LaunchConfiguration('qos_gps'),
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"qos_user_data": LaunchConfiguration('qos_user_data'),
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"scan_normal_k": LaunchConfiguration('scan_normal_k'),
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"landmark_linear_variance": LaunchConfiguration('tag_linear_variance'),
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"landmark_angular_variance": LaunchConfiguration('tag_angular_variance'),
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@@ -290,7 +317,12 @@ def launch_setup(context, *args, **kwargs):
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"odom_frame_id": LaunchConfiguration('odom_frame_id'),
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"wait_for_transform": LaunchConfiguration('wait_for_transform'),
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"approx_sync": LaunchConfiguration('approx_sync'),
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"queue_size": LaunchConfiguration('queue_size')
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"queue_size": LaunchConfiguration('queue_size'),
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"qos_image": LaunchConfiguration('qos_image'),
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"qos_scan": LaunchConfiguration('qos_scan'),
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"qos_odom": LaunchConfiguration('qos_odom'),
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"qos_camera_info": LaunchConfiguration('qos_camera_info'),
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"qos_user_data": LaunchConfiguration('qos_user_data')
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}],
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remappings=[
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("rgb/image", LaunchConfiguration('rgb_topic_relay')),
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@@ -361,6 +393,7 @@ def generate_launch_description():
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DeclareLaunchArgument('namespace', default_value='rtabmap', description=''),
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DeclareLaunchArgument('database_path', default_value='~/.ros/rtabmap.db', description='Where is the map saved/loaded.'),
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DeclareLaunchArgument('queue_size', default_value='10', description=''),
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DeclareLaunchArgument('qos', default_value='2', description='General QoS used for sensor input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('wait_for_transform', default_value='0.2', description=''),
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DeclareLaunchArgument('rtabmap_args', default_value='', description='Backward compatibility, use "args" instead.'),
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DeclareLaunchArgument('launch_prefix', default_value='', description='For debugging purpose, it fills prefix tag of the nodes, e.g., "xterm -e gdb -ex run --args"'),
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@@ -18,11 +18,14 @@ from launch_ros.actions import Node
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time')
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qos = LaunchConfiguration('qos')
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parameters=[{
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'frame_id':'base_footprint',
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'use_sim_time':use_sim_time,
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'subscribe_depth':True,
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'qos_image':qos,
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'qos_imu':qos,
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'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
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}]
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@@ -37,6 +40,10 @@ def generate_launch_description():
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DeclareLaunchArgument(
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'use_sim_time', default_value='true',
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description='Use simulation (Gazebo) clock if true'),
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DeclareLaunchArgument(
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'qos', default_value='2',
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description='QoS used for input sensor topics'),
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# Nodes to launch
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Node(
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@@ -19,12 +19,16 @@ from launch_ros.actions import Node
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time')
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qos = LaunchConfiguration('qos')
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parameters=[{
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'frame_id':'base_footprint',
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'use_sim_time':use_sim_time,
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'subscribe_rgbd':True,
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'subscribe_scan':True,
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'qos_scan':qos,
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'qos_image':qos,
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'qos_imu':qos,
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# RTAB-Map's parameters should be strings:
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'Reg/Strategy':'1',
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'RGBD/NeighborLinkRefining':'True',
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@@ -42,11 +46,15 @@ def generate_launch_description():
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DeclareLaunchArgument(
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'use_sim_time', default_value='true',
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description='Use simulation (Gazebo) clock if true'),
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DeclareLaunchArgument(
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'qos', default_value='2',
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description='QoS used for input sensor topics'),
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# Nodes to launch
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Node(
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package='rtabmap_ros', executable='rgbd_sync', output='screen',
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parameters=[{'approx_sync':True, 'use_sim_time':use_sim_time}],
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parameters=[{'approx_sync':True, 'use_sim_time':use_sim_time, 'qos':qos}],
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remappings=remappings),
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Node(
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@@ -17,6 +17,7 @@ from launch_ros.actions import Node
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time')
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qos = LaunchConfiguration('qos')
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parameters=[{
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'frame_id':'base_footprint',
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@@ -25,6 +26,8 @@ def generate_launch_description():
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'subscribe_rgb':False,
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'subscribe_scan':True,
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'approx_sync':True,
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'qos_scan':qos,
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'qos_imu':qos,
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'Reg/Strategy':'1',
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'RGBD/NeighborLinkRefining':'True',
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'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
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@@ -39,6 +42,10 @@ def generate_launch_description():
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DeclareLaunchArgument(
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'use_sim_time', default_value='true',
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description='Use simulation (Gazebo) clock if true'),
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DeclareLaunchArgument(
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'qos', default_value='2',
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description='QoS used for input sensor topics'),
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# Nodes to launch
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Node(
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