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Fixed timestamp conversion. Srv: changed "global" member to "global_map" (python reserved word). CoreWrapper: fixed imu subscription.

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matlabbe
2021-10-05 13:53:13 -04:00
parent 801fcade72
commit fb1200c8f1
11 changed files with 24 additions and 22 deletions
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launch/ros2/rtabmap.launch.py
+4 -3
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@@ -41,6 +41,7 @@ def launch_setup(context, *args, **kwargs):
return [
DeclareLaunchArgument('depth', default_value=ConditionalText('false', 'true', IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true'"]))._predicate_func(context)), description=''),
DeclareLaunchArgument('subscribe_rgb', default_value=LaunchConfiguration('depth'), description=''),
DeclareLaunchArgument('args', default_value=LaunchConfiguration('rtabmap_args'), description='Can be used to pass RTAB-Map\'s parameters or other flags like --udebug and --delete_db_on_start/-d'),
#These arguments should not be modified directly, see referred topics without "_relay" suffix above
DeclareLaunchArgument('rgb_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('rgb_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('rgb_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
@@ -328,7 +329,7 @@ def generate_launch_description():
DeclareLaunchArgument('database_path', default_value='~/.ros/rtabmap.db', description='Where is the map saved/loaded.'),
DeclareLaunchArgument('queue_size', default_value='10', description=''),
DeclareLaunchArgument('wait_for_transform', default_value='0.2', description=''),
DeclareLaunchArgument('args', default_value='', description='Can be used to pass RTAB-Map\'s parameters or other flags like --udebug and --delete_db_on_start/-d'),
DeclareLaunchArgument('rtabmap_args', default_value='', description='Backward compatibility, use "args" instead.'),
DeclareLaunchArgument('launch_prefix', default_value='', description='For debugging purpose, it fills prefix tag of the nodes, e.g., "xterm -e gdb -ex run --args"'),
DeclareLaunchArgument('output', default_value='screen', description='Control node output (screen or log).'),
@@ -374,8 +375,8 @@ def generate_launch_description():
DeclareLaunchArgument('odom_topic', default_value='odom', description='Odometry topic name.'),
DeclareLaunchArgument('vo_frame_id', default_value=LaunchConfiguration('odom_topic'), description='Visual/Icp odometry frame ID for TF.'),
DeclareLaunchArgument('publish_tf_odom', default_value='true', description=''),
DeclareLaunchArgument('odom_tf_angular_variance', default_value='1.0', description='If TF is used to get odometry, this is the default angular variance'),
DeclareLaunchArgument('odom_tf_linear_variance', default_value='1.0', description='If TF is used to get odometry, this is the default linear variance'),
DeclareLaunchArgument('odom_tf_angular_variance', default_value='0.01', description='If TF is used to get odometry, this is the default angular variance'),
DeclareLaunchArgument('odom_tf_linear_variance', default_value='0.001', description='If TF is used to get odometry, this is the default linear variance'),
DeclareLaunchArgument('odom_args', default_value='', description='More arguments for odometry (overwrite same parameters in rtabmap_args).'),
DeclareLaunchArgument('odom_sensor_sync', default_value='false', description=''),
DeclareLaunchArgument('odom_guess_frame_id', default_value='', description=''),