created ros2 branch

launch/ros2/turtlebot3_rgbd.launch.py

@@ -0,0 +1,47 @@
+# Requirements:
+#   Install Turtlebot3 packages
+#   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
+
+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():
+
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    parameters=[{
+          'frame_id':'base_footprint',
+          'use_sim_time':use_sim_time,
+          'subscribe_depth':True}]
+
+    remappings=[
+          ('rgb/image', '/intel_realsense_r200_depth/image_raw'),
+          ('rgb/camera_info', '/intel_realsense_r200_depth/camera_info'),
+          ('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(
+            'use_sim_time', default_value='true',
+            description='Use simulation (Gazebo) clock if true'),
+
+        # Nodes to launch
+        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),
+    ])