mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
60 lines
2.2 KiB
Python
60 lines
2.2 KiB
Python
# Requirements:
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# Install Turtlebot3 packages
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# Install https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense
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# Example:
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# $ export TURTLEBOT3_MODEL=waffle
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# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
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# $ ros2 run turtlebot3_teleop teleop_keyboard
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#
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# $ ros2 launch rtabmap_ros turtlebot3_rgbd.launch.py
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# OR
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# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info approx_sync:=true
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time')
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qos = LaunchConfiguration('qos')
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parameters=[{
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'frame_id':'base_footprint',
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'use_sim_time':use_sim_time,
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'subscribe_depth':True,
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'qos_image':qos,
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'qos_imu':qos,
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'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
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}]
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remappings=[
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('rgb/image', '/intel_realsense_r200_depth/image_raw'),
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('rgb/camera_info', '/intel_realsense_r200_depth/camera_info'),
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('depth/image', '/intel_realsense_r200_depth/depth/image_raw')]
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return LaunchDescription([
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# Launch arguments
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DeclareLaunchArgument(
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'use_sim_time', default_value='true',
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description='Use simulation (Gazebo) clock if true'),
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DeclareLaunchArgument(
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'qos', default_value='2',
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description='QoS used for input sensor topics'),
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# Nodes to launch
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Node(
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package='rtabmap_ros', executable='rtabmap', output='screen',
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parameters=parameters,
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remappings=remappings,
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arguments=['-d']),
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Node(
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package='rtabmap_ros', executable='rtabmapviz', output='screen',
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parameters=parameters,
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remappings=remappings),
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])
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