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lidar3d examples: added gps_topic argument

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matlabbe
2025-03-30 14:17:34 -07:00
parent e661abb884
commit f5a3e48705
2 changed files with 10 additions and 2 deletions
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rtabmap_examples/launch/lidar3d_assemble_x2.launch.py
+5 -1
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@@ -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.'),