Added d400 launch example #439

CMakeLists.txt

@@ -612,6 +612,7 @@ install(FILES
     launch/ros2/turtlebot3_scan.launch.py
     launch/ros2/turtlebot3_rgbd.launch.py
     launch/ros2/turtlebot3_rgbd_sync.launch.py
+    launch/ros2/realsense_d400.launch.py
 #   launch/rtabmap.launch
 #   launch/rgbd_mapping.launch
 #   launch/stereo_mapping.launch

launch/ros2/.gitignore

@@ -0,0 +1 @@
+__*

launch/ros2/realsense_d400.launch.py

@@ -0,0 +1,44 @@
+# Requirements:
+#   A realsense D400 series
+#   Install realsense2 ros2 package (refactor branch)
+# Example:
+#   $ ros2 run realsense_node realsense_node
+#   $ ros2 launch rtabmap_ros realsense_d400.launch.py
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from nav2_common.launch import Node
+
+def generate_launch_description():
+    parameters=[{
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'approx_sync':False}]
+
+    remappings=[
+          ('rgb/image', '/camera/color/image_raw'),
+          ('rgb/camera_info', '/camera/color/camera_info'),
+          ('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(
+            package='rtabmap_ros', node_executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+            
+        Node(
+            package='rtabmap_ros', node_executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        Node(
+            package='rtabmap_ros', node_executable='rtabmapviz', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+    ])