mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
3f6adad463
* Updating examples and README * updated main readme * odom: Added always_check_imu_tf parameter. sync: increased default sync_queue_size from 2 to 5 (to be more flexible to different hardware), added input and output diagnostics. rtabmap_viz: fixed node with same name redeclared warning. * update readme * Added husky demo * converted demo_robot_mapping.launch to ros2 * Converted stereo_outdoor demo from ros1 to ros2 * Converted multi-session demo to ros2 * Converted demo_find_object launch to ros2 * renamed files * uniformized default qos, increased sync_queue_size default to 10 * Added vlp16 + imu example * Added husky 3D lidar demos * moved demos in subdir * Added vlp16+zed example * rtabmap_viz: ignore odom update if tf not ready when not using topic (to avoid showing red screen). Added champ VSLAM demo. * forwarded camera_model arg for zed examples, removed qos for turtlebot4 demo * pointcloud_to_depthimage: added more error logs, removed output camera_info published twice and match ros1 namespaces * Created two base general examples for 3D lidar usage, then create hardware specific examples on top of them. * Added isaac sim demo * Final update of all demos. Fixed MapCloud rviz plugin crashing when floor/ceiling filtering is used and resulting cloud is empty. * Fixed 2d scan deskewing output frame, moved nav2 params under "params" folder, added number of topics processed/dropped for odometry, added icp_odometry option for turtlebot3 scan-only demo. * rtabmap_demos: added README with examples * Added TOC * bump version to 0.21.9
105 lines
4.0 KiB
Python
105 lines
4.0 KiB
Python
#
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# Requirements:
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# - Install: ros-$ROS_DISTRO-clearpath-simulator ros-$ROS_DISTRO-clearpath-nav2-demos ros-$ROS_DISTRO-clearpath-config ros-$ROS_DISTRO-moveit-setup-srdf-plugins
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# - Copy /opt/ros/humble/share/clearpath_config/sample/a200_sample.yaml to ~/clearpath/robot.yaml
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# - Fix camera intrinsics by editing /opt/ros/humble/share/clearpath_sensors_description/urdf/intel_realsense.urdf.xacro:
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# <horizontal_fov>1.047</horizontal_fov>
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# <image>
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# <width>320</width>
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# <height>240</height>
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# </image>
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#
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# Example with gazebo:
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# 1) Launch simulator (husky, nav2 and rtabmap):
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# $ ros2 launch rtabmap_demos husky_sim_scan3d_demo.launch.py robot_ns:=a200_0000
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#
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# 2) Click on "Play" button on bottom-left of gazebo as soon as you can see it to avoid controllers crashing after 5 sec.
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#
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# 3) Move the robot:
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# b) By sending goals with RVIZ's "Nav2 Goal" button in action bar.
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# a) By teleoperating:
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# $ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/a200_0000/cmd_vel
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#
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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import os
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ARGUMENTS = [
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DeclareLaunchArgument('rtabmap_viz', default_value='true',
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choices=['true', 'false'], description='Start rtabmap_viz.'),
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DeclareLaunchArgument('localization', default_value='false',
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choices=['true', 'false'], description='Start rtabmap in localization mode (a map should have been already created).'),
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DeclareLaunchArgument('world', default_value='warehouse',
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description='Ignition World'),
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DeclareLaunchArgument('robot_ns', default_value='a200_0000',
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description='Robot namespace'),
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]
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def generate_launch_description():
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# Directories
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pkg_clearpath_gz = get_package_share_directory(
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'clearpath_gz')
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pkg_clearpath_viz = get_package_share_directory(
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'clearpath_viz')
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pkg_rtabmap_demos = get_package_share_directory(
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'rtabmap_demos')
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pkg_clearpath_nav2_demos = get_package_share_directory(
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'clearpath_nav2_demos')
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# Paths
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sim_launch = PathJoinSubstitution(
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[pkg_clearpath_gz, 'launch', 'simulation.launch.py'])
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viz_launch = PathJoinSubstitution(
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[pkg_clearpath_viz, 'launch', 'view_navigation.launch.py'])
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rtabmap_launch = PathJoinSubstitution(
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[pkg_rtabmap_demos, 'launch', 'husky', 'husky_slam3d.launch.py'])
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nav2_launch = PathJoinSubstitution(
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[pkg_clearpath_nav2_demos, 'launch', 'nav2.launch.py'])
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sim = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([sim_launch]),
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launch_arguments=[
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('world', LaunchConfiguration('world')),
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]
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)
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viz = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([viz_launch]),
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launch_arguments=[
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('namespace', LaunchConfiguration('robot_ns')),
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]
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)
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rtabmap = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([rtabmap_launch]),
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launch_arguments=[
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('rtabmap_viz', LaunchConfiguration('rtabmap_viz')),
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('localization', LaunchConfiguration('localization')),
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('use_sim_time', 'true'),
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('robot_ns', LaunchConfiguration('robot_ns'))
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]
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)
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nav2 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([nav2_launch]),
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launch_arguments=[
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('setup_path', os.path.expanduser('~')+'/clearpath/'),
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('use_sim_time', 'true'),
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]
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)
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# Create launch description and add actions
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ld = LaunchDescription(ARGUMENTS)
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ld.add_action(rtabmap)
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ld.add_action(sim)
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ld.add_action(viz)
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ld.add_action(nav2)
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return ld
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