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update realsense examples for ros2 (#1224)

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* update realsense examples

* Modifiying realsense2 namespace instead.

* single quote str

---------

Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Reza Kermani
2024-10-16 21:04:25 -07:00
committed by GitHub
co-authored by matlabbe
parent ad97f56d0b
commit c83cff14c9
3 changed files with 9 additions and 8 deletions
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rtabmap_examples/launch/realsense_d435i_color.launch.py
+3 -4
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@@ -2,8 +2,6 @@
# A realsense D435i # A realsense D435i
# Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera) # Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
# Example: # Example:
# $ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=1 enable_sync:=true
#
# $ ros2 launch rtabmap_examples realsense_d435i_color.launch.py # $ ros2 launch rtabmap_examples realsense_d435i_color.launch.py
import os import os
@@ -39,9 +37,10 @@ def generate_launch_description():
PythonLaunchDescriptionSource([os.path.join( PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('realsense2_camera'), 'launch'), get_package_share_directory('realsense2_camera'), 'launch'),
'/rs_launch.py']), '/rs_launch.py']),
launch_arguments={'enable_gyro': 'true', launch_arguments={'camera_namespace': '',
'enable_gyro': 'true',
'enable_accel': 'true', 'enable_accel': 'true',
'unite_imu_method': '1', 'unite_imu_method': '2',
'align_depth.enable': 'true', 'align_depth.enable': 'true',
'enable_sync': 'true', 'enable_sync': 'true',
'rgb_camera.profile': '640x360x30'}.items(), 'rgb_camera.profile': '640x360x30'}.items(),
rtabmap_examples/launch/realsense_d435i_infra.launch.py
+3 -2
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@@ -37,9 +37,10 @@ def generate_launch_description():
PythonLaunchDescriptionSource([os.path.join( PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('realsense2_camera'), 'launch'), get_package_share_directory('realsense2_camera'), 'launch'),
'/rs_launch.py']), '/rs_launch.py']),
launch_arguments={'enable_gyro': 'true', launch_arguments={'camera_namespace': '',
'enable_gyro': 'true',
'enable_accel': 'true', 'enable_accel': 'true',
'unite_imu_method': '1', 'unite_imu_method': '2',
'enable_infra1': 'true', 'enable_infra1': 'true',
'enable_infra2': 'true', 'enable_infra2': 'true',
'enable_sync': 'true'}.items(), 'enable_sync': 'true'}.items(),
rtabmap_examples/launch/realsense_d435i_stereo.launch.py
+3 -2
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@@ -37,9 +37,10 @@ def generate_launch_description():
PythonLaunchDescriptionSource([os.path.join( PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('realsense2_camera'), 'launch'), get_package_share_directory('realsense2_camera'), 'launch'),
'/rs_launch.py']), '/rs_launch.py']),
launch_arguments={'enable_gyro': 'true', launch_arguments={'camera_namespace': '',
'enable_gyro': 'true',
'enable_accel': 'true', 'enable_accel': 'true',
'unite_imu_method': '1', 'unite_imu_method': '2',
'enable_infra1': 'true', 'enable_infra1': 'true',
'enable_infra2': 'true', 'enable_infra2': 'true',
'enable_sync': 'true'}.items(), 'enable_sync': 'true'}.items(),