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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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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(