From f5a3e487056e399b834971ef6a64126843666f7f Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 30 Mar 2025 14:17:34 -0700 Subject: [PATCH] lidar3d examples: added gps_topic argument --- rtabmap_examples/launch/lidar3d_assemble.launch.py | 6 +++++- rtabmap_examples/launch/lidar3d_assemble_x2.launch.py | 6 +++++- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/rtabmap_examples/launch/lidar3d_assemble.launch.py b/rtabmap_examples/launch/lidar3d_assemble.launch.py index 213f15a6..3efa234a 100644 --- a/rtabmap_examples/launch/lidar3d_assemble.launch.py +++ b/rtabmap_examples/launch/lidar3d_assemble.launch.py @@ -161,7 +161,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs): {'subscribe_rgbd': rgbd_image_used, 'topic_queue_size': 40, 'sync_queue_size': 40,}], - remappings=remappings + [('scan_cloud', 'assembled_cloud')], + remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic'))], arguments=arguments), # Just for visualization @@ -225,6 +225,10 @@ def generate_launch_description(): 'imu_topic', default_value='/imu/data', description='Name of an IMU topic.'), + DeclareLaunchArgument( + 'gps_topic', default_value='/gps/fix', + description='Name of a GPS topic.'), + DeclareLaunchArgument( 'rgbd_image_topic', default_value='', description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'), diff --git a/rtabmap_examples/launch/lidar3d_assemble_x2.launch.py b/rtabmap_examples/launch/lidar3d_assemble_x2.launch.py index ff44b19e..4eac3846 100644 --- a/rtabmap_examples/launch/lidar3d_assemble_x2.launch.py +++ b/rtabmap_examples/launch/lidar3d_assemble_x2.launch.py @@ -189,7 +189,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs): {'subscribe_rgbd': rgbd_image_used, 'topic_queue_size': 40, 'sync_queue_size': 40,}], - remappings=remappings + [('scan_cloud', 'assembled_cloud')], + remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic'))], arguments=arguments), # Just for visualization @@ -257,6 +257,10 @@ def generate_launch_description(): 'imu_topic', default_value='/imu/data', description='Name of an IMU topic.'), + DeclareLaunchArgument( + 'gps_topic', default_value='/gps/fix', + description='Name of a GPS topic.'), + DeclareLaunchArgument( 'rgbd_image_topic', default_value='', description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'),