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Added demo_isaac_carter_navigation.launch

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matlabbe
2021-12-05 15:10:05 -05:00
parent ec9b77d055
commit f08130fe20
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launch/demo/demo_isaac_carter_navigation.launch
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<!-- -->
<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>