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demo_turtlebot_mapping.launch: added simulation argument

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matlabbe
2017-08-21 11:18:53 -04:00
parent 960d9718e9
commit e7f21262da
1 changed files with 22 additions and 10 deletions
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launch/demo/demo_turtlebot_mapping.launch
+22 -10
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@@ -19,15 +19,27 @@
the previous map, then the 2D map should re-appear again. You can then follow the same steps
from 3.3.2 of the "Autonomous Navigation of a Known Map with TurtleBot" tutorial:
http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
For turtlebot in simulation (Gazebo):
$ roslaunch turtlebot_gazebo turtlebot_world.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
-->
<arg name="database_path" default="rtabmap.db"/>
<arg name="rgbd_odometry" default="false"/>
<arg name="rtabmapviz" default="false"/>
<arg name="localization" default="false"/>
<arg name="simulation" default="false"/>
<arg if="$(arg localization)" name="args" default=""/>
<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
<arg if="$(arg simulation)" name="rgb_topic" default="/camera/rgb/image_raw"/>
<arg unless="$(arg simulation)" name="rgb_topic" default="/camera/rgb/image_rect_color"/>
<arg if="$(arg simulation)" name="depth_topic" default="/camera/depth/image_raw"/>
<arg unless="$(arg simulation)" name="depth_topic" default="/camera/depth_registered/image_raw"/>
<arg name="camera_info_topic" default="/camera/rgb/camera_info"/>
<arg name="wait_for_transform" default="0.2"/>
<!--
robot_state_publisher's publishing frequency in "turtlebot_bringup/launch/includes/robot.launch.xml"
@@ -35,7 +47,7 @@
-->
<!-- Navigation stuff (move_base) -->
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
<include unless="$(arg simulation)" file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
<!-- Mapping -->
@@ -51,9 +63,9 @@
<!-- inputs -->
<remap from="scan" to="/scan"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<!-- output -->
<remap from="grid_map" to="/map"/>
@@ -87,9 +99,9 @@
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/InlierDistance" type="string" value="0.05"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- visualization with rtabmapviz -->
@@ -99,9 +111,9 @@
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="scan" to="/scan"/>
</node>