From cbad3e37b6ad3e60fd1f9e66360b6afde1b94821 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 18 Aug 2020 19:29:53 -0400
Subject: [PATCH] updated demo_turtlebot3_navigaiton.launch with rgbd_sync

---
 launch/demo/demo_turtlebot3_navigation.launch | 56 ++++++++++---------
 1 file changed, 30 insertions(+), 26 deletions(-)

diff --git a/launch/demo/demo_turtlebot3_navigation.launch b/launch/demo/demo_turtlebot3_navigation.launch
index 2acb0e9e..c4fe9293 100644
--- a/launch/demo/demo_turtlebot3_navigation.launch
+++ b/launch/demo/demo_turtlebot3_navigation.launch
@@ -31,38 +31,42 @@
   </include>
 
   <group ns="rtabmap">
+    <node pkg="rtabmap_ros" type="rgbd_sync" name="rgbd_sync" output="screen">
+      <remap from="rgb/image"         to="/camera/rgb/image_raw"/>
+      <remap from="depth/image"       to="/camera/depth/image_raw"/>
+      <remap from="rgb/camera_info"   to="/camera/rgb/camera_info"/>
+    </node>
+  
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
-	  <param name="database_path"       type="string" value="$(arg database_path)"/>
-	  <param name="frame_id"            type="string" value="base_footprint"/>
-          <param     if="$(eval model=='waffle')" name="subscribe_rgb" type="bool" value="true"/>
-          <param unless="$(eval model=='waffle')" name="subscribe_rgb" type="bool" value="false"/>
-          <param     if="$(eval model=='waffle')" name="subscribe_depth" type="bool" value="true"/>
-          <param unless="$(eval model=='waffle')" name="subscribe_depth" type="bool" value="false"/>
-	  <param name="subscribe_scan"      type="bool"   value="true"/>
-          <param name="approx_sync"         type="bool"   value="true"/>
+      <param name="database_path"       type="string" value="$(arg database_path)"/>
+      <param name="frame_id"            type="string" value="base_footprint"/>
+      <param name="subscribe_rgb"   type="bool" value="false"/>
+      <param name="subscribe_depth" type="bool" value="false"/>
+      <param     if="$(eval model=='waffle')" name="subscribe_rgbd" type="bool" value="true"/>
+      <param unless="$(eval model=='waffle')" name="subscribe_rgbd" type="bool" value="false"/>
+      <param name="subscribe_scan"      type="bool"   value="true"/>
+      <param name="approx_sync"         type="bool"   value="true"/>
 
-          <!-- use actionlib to send goals to move_base --> 
-	  <param name="use_action_for_goal" type="bool" value="true"/>
-          <remap from="move_base"            to="/move_base"/>
+      <!-- use actionlib to send goals to move_base --> 
+      <param name="use_action_for_goal" type="bool" value="true"/>
+      <remap from="move_base"            to="/move_base"/>
 	
-	  <!-- inputs -->
-	  <remap from="scan"            to="/scan"/>
-	  <remap from="odom"            to="/odom"/>
-	  <remap from="rgb/image"       to="/camera/rgb/image_raw"/>
-  	  <remap from="depth/image"     to="/camera/depth/image_raw"/>
-  	  <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
+      <!-- inputs -->
+      <remap from="scan"            to="/scan"/>
+      <remap from="odom"            to="/odom"/>
+      <remap from="rgbd_image"       to="rgbd_image"/>
 
-  	  <!-- output -->
-  	  <remap from="grid_map" to="/map"/>
+      <!-- output -->
+      <remap from="grid_map" to="/map"/>
 	
-	  <!-- RTAB-Map's parameters -->
-	  <param name="Reg/Strategy"                 type="string" value="1"/>
-	  <param name="Reg/Force3DoF"                type="string" value="true"/>
-	  <param name="GridGlobal/MinSize"           type="string" value="20"/>
+      <!-- RTAB-Map's parameters -->
+      <param name="Reg/Strategy"                 type="string" value="1"/>
+      <param name="Reg/Force3DoF"                type="string" value="true"/>
+      <param name="GridGlobal/MinSize"           type="string" value="20"/>
 
-	  <!-- localization mode -->
-	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
-	  <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
+      <!-- localization mode -->
+      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
+      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
     </node>
 
     <!-- visualization with rtabmapviz -->