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Updated rtabmap_examples launch files with new structure

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matlabbe
2023-03-04 15:40:17 -08:00
parent a7675b7c09
commit f5f6097a20
41 changed files with 245 additions and 144 deletions
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rtabmap_examples/launch/test_laser_assembler.launch
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<?xml version="1.0"?>
<launch>
<!-- Build laser_assembler package from source to have periodic_snapshotter node -->
<!-- Also use assemble_scans2 service in periodic_snapshotter, publish PointCloud2 and set duration to 1 second -->
<!-- Arguments -->
<arg name="rtabmap_args" default="--delete_db_on_start --Rtabmap/DetectionRate 0 --RGBD/ProximityBySpace false --RGBD/LinearUpdate 0 --RGBD/AngularUpdate 0 --RGBD/ProximityPathMaxNeighbors 0"/>
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<arg name="rtabmap_viz" default="true" />
<arg name="rviz" default="false" />
<!-- Kinect -->
<include file="$(find freenect_launch)/launch/freenect.launch" >
<arg name="depth_registration" value="true"/>
<arg name="data_skip" value="3"/>
</include>
<!-- Laser scan from Depth image -->
<node type="depthimage_to_laserscan" pkg="depthimage_to_laserscan" name="depthimage_to_laserscan">
<remap from="image" to="$(arg depth_topic)"/>
<remap from="camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- Laser assembler (convert to PointCloud2) -->
<node type="laser_scan_assembler" pkg="laser_assembler" name="laser_assembler">
<remap from="scan" to="scan"/>
<param name="max_scans" type="int" value="400" />
<param name="fixed_frame" type="string" value="odom" />
</node>
<node type="periodic_snapshotter" pkg="laser_assembler" name="periodic_snapshotter"/>
<!-- RTAB-Map -->
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
<arg name="queue_size" value="30" />
<arg name="rgb_topic" value="$(arg rgb_topic)" />
<arg name="depth_topic" value="$(arg depth_topic)" />
<arg name="camera_info_topic" value="$(arg camera_info_topic)" />
<arg name="subscribe_scan_cloud" value="true"/>
<arg name="scan_cloud_topic" value="/assembled_cloud2"/>
<arg name="rtabmap_viz" value="$(arg rtabmap_viz)"/>
<arg name="rviz" value="$(arg rviz)"/>
</include>
</launch>