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rtabmap.launch.py: fixed wrong relay remap names when compressed is false. Fixed warnings showing the base topic names and not the remap names. Added rtabmap.launch.py usage in example launch files. Install rtabmap.launch.py.

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This commit is contained in:
matlabbe
2021-10-01 18:48:45 -04:00
parent 75ce3a56e7
commit ccf152d877
14 changed files with 132 additions and 89 deletions
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launch/ros2/realsense_d400.launch.py
+3 -2
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@@ -3,7 +3,10 @@
# Install realsense2 ros2 package (refactor branch)
# Example:
# $ ros2 launch realsense2_camera rs_launch.py align_depth:=true
#
# $ ros2 launch rtabmap_ros realsense_d400.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py frame_id:=camera_link args:="-d" rgb_topic:=/camera/color/image_raw depth_topic:=/camera/aligned_depth_to_color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -22,8 +25,6 @@ def generate_launch_description():
('depth/image', '/camera/aligned_depth_to_color/image_raw')]
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
# Nodes to launch
Node(
launch/ros2/rtabmap.launch.py
+16 -12
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@@ -4,6 +4,7 @@ from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, LogInf
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PythonExpression
from launch.conditions import IfCondition, UnlessCondition
from launch_ros.actions import Node
from launch_ros.actions import SetParameter
from typing import Text
#Based on https://answers.ros.org/question/363763/ros2-how-best-to-conditionally-include-a-prefix-in-a-launchpy-file/
@@ -14,7 +15,7 @@ class ConditionalText(Substitution):
self.condition = condition
def perform(self, context: 'LaunchContext') -> Text:
if self.condition:
if self.condition == True or self.condition == 'true' or self.condition == 'True':
return self.text_if
else:
return self.text_else
@@ -38,11 +39,14 @@ def launch_setup(context, *args, **kwargs):
DeclareLaunchArgument('subscribe_rgb', default_value=LaunchConfiguration('depth'), description=''),
#These arguments should not be modified directly, see referred topics without "_relay" suffix above
DeclareLaunchArgument('rgb_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('rgb_topic').perform(context), "_relay"]), LaunchConfiguration('rgb_topic').perform(context), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
DeclareLaunchArgument('depth_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('depth_topic').perform(context), "_relay"]), LaunchConfiguration('depth_topic').perform(context), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
DeclareLaunchArgument('left_image_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('left_image_topic').perform(context), "_relay"]), LaunchConfiguration('left_image_topic').perform(context), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
DeclareLaunchArgument('right_image_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('right_image_topic').perform(context), "_relay"]), LaunchConfiguration('right_image_topic'), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
DeclareLaunchArgument('rgbd_topic_relay', default_value=ConditionalText(LaunchConfiguration('rgbd_topic').perform(context), ''.join([LaunchConfiguration('rgbd_topic').perform(context), "_relay"]), LaunchConfiguration('rgbd_sync')), description='Should not be modified manually!'),
DeclareLaunchArgument('rgb_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('rgb_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('rgb_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
DeclareLaunchArgument('depth_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('depth_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('depth_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
DeclareLaunchArgument('left_image_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('left_image_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('left_image_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
DeclareLaunchArgument('right_image_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('right_image_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('right_image_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
DeclareLaunchArgument('rgbd_topic_relay', default_value=ConditionalText(''.join(LaunchConfiguration('rgbd_topic').perform(context)), ''.join([LaunchConfiguration('rgbd_topic').perform(context), "_relay"]), LaunchConfiguration('rgbd_sync').perform(context)), description='Should not be modified manually!'),
SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
# 'use_sim_time' will be set on all nodes following the line above
# Relays RGB-Depth
Node(
@@ -299,8 +303,6 @@ def launch_setup(context, *args, **kwargs):
def generate_launch_description():
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
# Arguments
DeclareLaunchArgument('stereo', default_value='false', description='Use stereo input instead of RGB-D.'),
@@ -308,13 +310,15 @@ def generate_launch_description():
DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
DeclareLaunchArgument('rtabmapviz', default_value='true', description='Launch RTAB-Map UI (optional).'),
DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'),
# Config files
DeclareLaunchArgument('cfg', default_value='', description='To change RTAB-Map\'s parameters, set the path of config file (*.ini) generated by the standalone app.'),
DeclareLaunchArgument('gui_cfg', default_value='~/.ros/rtabmap_gui.ini', description='Configuration path of rtabmapviz.'),
DeclareLaunchArgument('frame_id', default_value='base_link', description='Fixed frame id of the robot (base frame), you may set "base_link" or "base_footprint" if they are published. For camera-only config, this could be "camera_link".'),
DeclareLaunchArgument('odom_frame_id', default_value='', description='If set, TF is used to get odometry instead of the topic.'),
DeclareLaunchArgument('map_frame_id', default_value='', description='Output map frame id (TF).'),
DeclareLaunchArgument('map_frame_id', default_value='map', description='Output map frame id (TF).'),
DeclareLaunchArgument('publish_tf_map', default_value='true', description='Publish TF between map and odomerty.'),
DeclareLaunchArgument('namespace', default_value='rtabmap', description=''),
DeclareLaunchArgument('database_path', default_value='~/.ros/rtabmap.db', description='Where is the map saved/loaded.'),
@@ -349,9 +353,9 @@ def generate_launch_description():
DeclareLaunchArgument('depth_scale', default_value='1.0', description=''),
# Image topic compression
DeclareLaunchArgument('compressed', default_value='false', description='If you want to subscribe to compressed image topics'),
DeclareLaunchArgument('rgb_image_transport', default_value='compressed', description='Common types: compressed, theora (see "rosrun image_transport list_transports")'),
DeclareLaunchArgument('depth_image_transport', default_value='compressedDepth', description='Depth compatible types: compressedDepth (see "rosrun image_transport list_transports")'),
DeclareLaunchArgument('compressed', default_value='false', description='If you want to subscribe to compressed image topics'),
DeclareLaunchArgument('rgb_image_transport', default_value='compressed', description='Common types: compressed, theora (see "rosrun image_transport list_transports")'),
DeclareLaunchArgument('depth_image_transport', default_value='compressedDepth', description='Depth compatible types: compressedDepth (see "rosrun image_transport list_transports")'),
# LiDAR
DeclareLaunchArgument('subscribe_scan', default_value='false', description=''),
launch/ros2/turtlebot3_rgbd.launch.py
+3 -2
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@@ -3,7 +3,10 @@
# Install https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense
# Example:
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
#
# $ ros2 launch rtabmap_ros turtlebot3_rgbd.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info approx_sync:=true
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -25,8 +28,6 @@ def generate_launch_description():
('depth/image', '/intel_realsense_r200_depth/depth/image_raw')]
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
# Launch arguments
DeclareLaunchArgument(
launch/ros2/turtlebot3_rgbd_sync.launch.py
+3 -2
View File
@@ -3,7 +3,10 @@
# Install https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense
# Example:
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
#
# $ ros2 launch rtabmap_ros turtlebot3_rgbd_sync.launch.py
# OR
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true approx_sync:=true odom_topic:=/odom args:="-d" use_sim_time:=true rgbd_sync:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -27,8 +30,6 @@ def generate_launch_description():
('depth/image', '/intel_realsense_r200_depth/depth/image_raw')]
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
# Launch arguments
DeclareLaunchArgument(
launch/ros2/turtlebot3_scan.launch.py
+3 -2
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@@ -2,7 +2,10 @@
# Install Turtlebot3 packages
# Example:
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
#
# $ 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" use_sim_time:=true
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
@@ -27,8 +30,6 @@ def generate_launch_description():
('scan', '/scan')]
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
# Launch arguments
DeclareLaunchArgument(