i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

merged master->ros2

Browse Source
This commit is contained in:
matlabbe
2024-06-12 22:51:30 -07:00
parent 911e4e8941 ae44e1a215
commit d3d874c862
35 changed files with 857 additions and 771 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_launch/launch/rtabmap.launch.py
+18 -9
View File
@@ -45,6 +45,7 @@ def launch_setup(context, *args, **kwargs):
DeclareLaunchArgument('depth', default_value=ConditionalText('false', 'true', IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true'"]))._predicate_func(context)), description=''),
DeclareLaunchArgument('subscribe_rgb', default_value=LaunchConfiguration('depth'), description=''),
DeclareLaunchArgument('args', default_value=LaunchConfiguration('rtabmap_args'), description='Can be used to pass RTAB-Map\'s parameters or other flags like --udebug and --delete_db_on_start/-d'),
DeclareLaunchArgument('sync_queue_size', default_value=LaunchConfiguration('queue_size'), description='Queue size of topic synchronizers.'),
DeclareLaunchArgument('qos_image', default_value=LaunchConfiguration('qos'), description='Specific QoS used for image input data: 0=system default, 1=Reliable, 2=Best Effort.'),
DeclareLaunchArgument('qos_camera_info', default_value=LaunchConfiguration('qos'), description='Specific QoS used for camera info input data: 0=system default, 1=Reliable, 2=Best Effort.'),
DeclareLaunchArgument('qos_scan', default_value=LaunchConfiguration('qos'), description='Specific QoS used for scan input data: 0=system default, 1=Reliable, 2=Best Effort.'),
@@ -52,7 +53,7 @@ def launch_setup(context, *args, **kwargs):
DeclareLaunchArgument('qos_user_data', default_value=LaunchConfiguration('qos'), description='Specific QoS used for user input data: 0=system default, 1=Reliable, 2=Best Effort.'),
DeclareLaunchArgument('qos_imu', default_value=LaunchConfiguration('qos'), description='Specific QoS used for imu input data: 0=system default, 1=Reliable, 2=Best Effort.'),
DeclareLaunchArgument('qos_gps', default_value=LaunchConfiguration('qos'), description='Specific QoS used for gps input data: 0=system default, 1=Reliable, 2=Best Effort.'),
DeclareLaunchArgument('odom_log_level', default_value=LaunchConfiguration('log_level'), description='Specific ROS logger level for odometry node.'),
#These arguments should not be modified directly, see referred topics without "_relay" suffix above
@@ -88,7 +89,8 @@ def launch_setup(context, *args, **kwargs):
parameters=[{
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"queue_size": LaunchConfiguration('queue_size'),
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
"depth_scale": LaunchConfiguration('depth_scale')}],
@@ -122,7 +124,8 @@ def launch_setup(context, *args, **kwargs):
parameters=[{
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"queue_size": LaunchConfiguration('queue_size'),
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_camera_info": LaunchConfiguration('qos_camera_info')}],
remappings=[
@@ -169,7 +172,8 @@ def launch_setup(context, *args, **kwargs):
"approx_sync": LaunchConfiguration('approx_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
"qos_imu": LaunchConfiguration('qos_imu'),
@@ -203,7 +207,8 @@ def launch_setup(context, *args, **kwargs):
"approx_sync": LaunchConfiguration('approx_sync'),
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
"qos_imu": LaunchConfiguration('qos_imu'),
@@ -237,7 +242,8 @@ def launch_setup(context, *args, **kwargs):
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
"qos": LaunchConfiguration('qos_image'),
"qos_imu": LaunchConfiguration('qos_imu'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
@@ -277,7 +283,8 @@ def launch_setup(context, *args, **kwargs):
"database_path": LaunchConfiguration('database_path'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg').perform(context),
"queue_size": LaunchConfiguration('queue_size'),
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
"qos_image": LaunchConfiguration('qos_image'),
"qos_scan": LaunchConfiguration('qos_scan'),
"qos_odom": LaunchConfiguration('qos_odom'),
@@ -329,7 +336,8 @@ def launch_setup(context, *args, **kwargs):
"odom_frame_id": LaunchConfiguration('odom_frame_id').perform(context),
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
"approx_sync": LaunchConfiguration('approx_sync'),
"queue_size": LaunchConfiguration('queue_size'),
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
"qos_image": LaunchConfiguration('qos_image'),
"qos_scan": LaunchConfiguration('qos_scan'),
"qos_odom": LaunchConfiguration('qos_odom'),
@@ -408,7 +416,8 @@ def generate_launch_description():
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.'),
DeclareLaunchArgument('queue_size', default_value='10', description=''),
DeclareLaunchArgument('topic_queue_size', default_value='1', description='Queue size of individual topic subscribers.'),
DeclareLaunchArgument('queue_size', default_value='10', description='Backward compatibility, use "sync_queue_size" instead.'),
DeclareLaunchArgument('qos', default_value='1', description='General QoS used for sensor input data: 0=system default, 1=Reliable, 2=Best Effort.'),
DeclareLaunchArgument('wait_for_transform', default_value='0.2', description=''),
DeclareLaunchArgument('rtabmap_args', default_value='', description='Backward compatibility, use "args" instead.'),