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fixed #725

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matlabbe
2022-02-27 17:37:06 -05:00
parent bc29e8694f
commit b81009b9f6
1 changed files with 17 additions and 17 deletions
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launch/ros2/rtabmap.launch.py
+17 -17
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@@ -155,18 +155,18 @@ def launch_setup(context, *args, **kwargs):
"frame_id": LaunchConfiguration('frame_id'),
"odom_frame_id": LaunchConfiguration('vo_frame_id'),
"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'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
"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'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
"qos_imu": LaunchConfiguration('qos_imu'),
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
remappings=[
@@ -188,18 +188,18 @@ def launch_setup(context, *args, **kwargs):
"frame_id": LaunchConfiguration('frame_id'),
"odom_frame_id": LaunchConfiguration('vo_frame_id'),
"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'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
"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'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
"qos_imu": LaunchConfiguration('qos_imu'),
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
remappings=[
@@ -222,16 +222,16 @@ def launch_setup(context, *args, **kwargs):
"frame_id": LaunchConfiguration('frame_id'),
"odom_frame_id": LaunchConfiguration('vo_frame_id'),
"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'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
"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'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_imu": LaunchConfiguration('qos_imu'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
remappings=[
@@ -256,17 +256,17 @@ 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'),
"map_frame_id": LaunchConfiguration('map_frame_id'),
"odom_frame_id": LaunchConfiguration('odom_frame_id'),
"odom_frame_id": LaunchConfiguration('odom_frame_id').perform(context),
"publish_tf": LaunchConfiguration('publish_tf_map'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
"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": LaunchConfiguration('wait_for_transform'),
"database_path": LaunchConfiguration('database_path'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"qos_image": LaunchConfiguration('qos_image'),
"qos_scan": LaunchConfiguration('qos_scan'),
@@ -315,7 +315,7 @@ def launch_setup(context, *args, **kwargs):
"subscribe_user_data": LaunchConfiguration('subscribe_user_data'),
"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'),
"odom_frame_id": LaunchConfiguration('odom_frame_id').perform(context),
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"approx_sync": LaunchConfiguration('approx_sync'),
"queue_size": LaunchConfiguration('queue_size'),