From f08130fe20889743335066385f8d9afba568cd15 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 5 Dec 2021 15:10:05 -0500
Subject: [PATCH] Added demo_isaac_carter_navigation.launch

---
 .../demo/demo_isaac_carter_navigation.launch  | 52 +++++++++++++++++++
 1 file changed, 52 insertions(+)
 create mode 100644 launch/demo/demo_isaac_carter_navigation.launch

diff --git a/launch/demo/demo_isaac_carter_navigation.launch b/launch/demo/demo_isaac_carter_navigation.launch
new file mode 100644
index 00000000..23c9870f
--- /dev/null
+++ b/launch/demo/demo_isaac_carter_navigation.launch
@@ -0,0 +1,52 @@
+<!-- -->
+<launch>
+    <!-- For ref: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_ros_navigation.html#isaac-sim-app-tutorial-ros-navigation
+
+         1) In Isaac sim, click on menu Isaac Examples - ROS - Navigation
+         2) Terminal:  $ roscore
+         3) To teleop: $ rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.15 _turn:=0.20
+         4) Navigation: roslaunch rtabmap_ros demo_isaac_carter_navigation.launch
+         5) Set max depth range to 10m in rtabmapviz for correct visualization (Preferences->3D Rendering under map and odom columns)
+         6) Press Play in Isaac sim
+
+         Note: carter_2dnav package can be copied to your catkin_ws from:
+            $ cp -r ~/.local/share/ov/pkg/isaac_sim-2021.2.0/ros_workspace/src/* ~/catkin_ws/src/.
+    -->
+
+    <param name="use_sim_time" value="true" />
+    <arg name="localization" default="false" />
+
+    <!-- Load Robot Description -->
+    <arg name="model" default="$(find carter_description)/urdf/carter.urdf"/>
+    <param name="robot_description" textfile="$(arg model)" />
+
+    <!-- RTAB-Map -->
+    <remap from="/rtabmap/grid_map" to="/map"/>
+    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
+        <arg     if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true"/>
+        <arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true"/>
+        <arg name="localization"      value="$(arg localization)"/>
+        <arg name="subscribe_scan"    value="true"/>
+        <arg name="visual_odometry"   value="false"/>
+        <arg name="odom_topic"        value="/odom"/>
+        <arg name="frame_id"          value="base_link"/>
+        <arg name="depth_topic"       value="/depth_left"/>
+        <arg name="rgb_topic"         value="/rgb_left"/>
+        <arg name="camera_info_topic" value="/camera_info_left"/>
+        <arg name="rgbd_sync"         value="true"/>
+        <arg name="approx_rgbd_sync"  value="false"/>
+        <arg name="use_sim_time"      value="true"/>
+    </include>
+    
+    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+        <param name="TrajectoryPlannerROS/max_vel_theta" value="0.3"/>
+        <param name="TrajectoryPlannerROS/min_vel_theta" value="-0.3"/>
+        <rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
+        <rosparam file="$(find carter_2dnav)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
+        <rosparam file="$(find carter_2dnav)/params/local_costmap_params.yaml" command="load" />
+        <rosparam file="$(find carter_2dnav)/params/global_costmap_params.yaml" command="load" /> 
+        <rosparam file="$(find carter_2dnav)/params/base_local_planner_params.yaml" command="load" />
+    </node>
+
+    <node type="rviz" name="rviz" pkg="rviz" args="-d $(find carter_2dnav)/rviz/carter_2dnav.rviz" />
+</launch>