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updated demo_turtlebot3_navigaiton.launch with rgbd_sync

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matlabbe
2020-08-18 19:29:53 -04:00
parent 7c48684736
commit cbad3e37b6
1 changed files with 30 additions and 26 deletions
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launch/demo/demo_turtlebot3_navigation.launch
+30 -26
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@@ -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 -->