From bf5b3ef1570c99e42790c1da6681e275eb1b95c8 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 23 Nov 2023 12:20:05 -0800
Subject: [PATCH] Added kinect for xbox 360 example
 (https://github.com/introlab/rtabmap/discussions/1124)

---
 .../launch/kinect_xbox_360.launch.py          | 54 +++++++++++++++++++
 1 file changed, 54 insertions(+)
 create mode 100644 rtabmap_examples/launch/kinect_xbox_360.launch.py

diff --git a/rtabmap_examples/launch/kinect_xbox_360.launch.py b/rtabmap_examples/launch/kinect_xbox_360.launch.py
new file mode 100644
index 00000000..2968e665
--- /dev/null
+++ b/rtabmap_examples/launch/kinect_xbox_360.launch.py
@@ -0,0 +1,54 @@
+# Requirements:
+#   A kinect for xbox 360
+#   Install kinect_ros2 package (use this fork: https://github.com/matlabbe/kinect_ros2)
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    parameters=[{
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          'approx_sync':True,
+          'qos':1}]
+
+    remappings=[
+          ('rgb/image', '/kinect/rgb/image_raw'),
+          ('rgb/camera_info', '/kinect/rgb/camera_info'),
+          ('depth/image', '/kinect/depth_registered/image_raw')]
+
+    return LaunchDescription([
+
+        # Nodes to launch
+        Node(
+            package='kinect_ros2', executable='kinect_ros2_node', output='screen',
+            parameters=[{'depth_registration':True}],
+            namespace="kinect"),
+
+        # Optical rotation
+        Node(
+            package='tf2_ros', executable='static_transform_publisher', output='screen',
+            arguments=["0", "0", "0", "-1.57", "0", "-1.57", "camera_link", "kinect_rgb"]),
+
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            namespace="rtabmap"),
+
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d'],
+            namespace="rtabmap"),
+
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            namespace="rtabmap"),
+    ])