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turtlebot4 demo: added odom_sensor_sync and added description to fix lidar/cloud misalignment.

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matlabbe
2024-06-29 19:44:23 -07:00
parent c0d219cce4
commit bed3081435
2 changed files with 9 additions and 0 deletions
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rtabmap_demos/launch/turtlebot4_ignition_demo.launch.py
+4
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@@ -1,3 +1,7 @@
#
# Note: Make sure you have this fix for turtlebot4_description https://github.com/turtlebot/turtlebot4/pull/434,
# otherwise, the lidar and camera point cloud won't be aligned correctly.
#
# Example: # Example:
# 1) Launch simulator (turtlebot4, nav2 and rtabmap): # 1) Launch simulator (turtlebot4, nav2 and rtabmap):
# $ ros2 launch rtabmap_demos turtlebot4_ignition.launch.py # $ ros2 launch rtabmap_demos turtlebot4_ignition.launch.py
rtabmap_demos/launch/turtlebot4_slam.launch.py
+5
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@@ -1,3 +1,7 @@
#
# Note: Make sure you have this fix for turtlebot4_description https://github.com/turtlebot/turtlebot4/pull/434,
# otherwise, the lidar and camera point cloud won't be aligned correctly.
#
# Example with gazebo: # Example with gazebo:
# 1) Launch simulator (turtlebot4 and nav2): # 1) Launch simulator (turtlebot4 and nav2):
# $ ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=false nav2:=true rviz:=true # $ ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=false nav2:=true rviz:=true
@@ -39,6 +43,7 @@ def generate_launch_description():
'subscribe_rgbd':True, 'subscribe_rgbd':True,
'subscribe_scan':True, 'subscribe_scan':True,
'use_action_for_goal':True, 'use_action_for_goal':True,
'odom_sensor_sync': True,
'qos_scan':qos, 'qos_scan':qos,
'qos_image':qos, 'qos_image':qos,
'qos_imu':qos, 'qos_imu':qos,