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Merged master->ros2, added vlp16 launch example, added d435i stereo launch example

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matlabbe
2023-01-16 16:26:53 -08:00
parent 4d86e26f54 507df071e0
commit c204ed6142
33 changed files with 636 additions and 75 deletions
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launch/ros2/turtlebot3_scan.launch.py
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@@ -10,7 +10,7 @@
# SLAM:
# $ 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 --RGBD/NeighborLinkRefining true --Reg/Strategy 1 --Reg/Force3DoF true --Grid/RangeMin 0.2" 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 --Reg/Force3DoF true --Grid/RangeMin 0.2" use_sim_time:=true qos:=2
#
# Navigation (install nav2_bringup package):
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True