mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
55 lines
1.8 KiB
Python
55 lines
1.8 KiB
Python
# Requirements:
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# A kinect for xbox 360
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# Install kinect_ros2 package (use this fork: https://github.com/matlabbe/kinect_ros2)
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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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parameters=[{
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'frame_id':'camera_link',
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'subscribe_depth':True,
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'subscribe_odom_info':True,
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'approx_sync':True,
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'qos':1}]
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remappings=[
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('rgb/image', '/kinect/rgb/image_raw'),
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('rgb/camera_info', '/kinect/rgb/camera_info'),
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('depth/image', '/kinect/depth_registered/image_raw')]
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return LaunchDescription([
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# Nodes to launch
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Node(
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package='kinect_ros2', executable='kinect_ros2_node', output='screen',
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parameters=[{'depth_registration':True}],
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namespace="kinect"),
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# Optical rotation
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Node(
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package='tf2_ros', executable='static_transform_publisher', output='screen',
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arguments=["0", "0", "0", "-1.57", "0", "-1.57", "camera_link", "kinect_rgb"]),
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Node(
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package='rtabmap_odom', executable='rgbd_odometry', output='screen',
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parameters=parameters,
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remappings=remappings,
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namespace="rtabmap"),
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Node(
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package='rtabmap_slam', 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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namespace="rtabmap"),
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Node(
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package='rtabmap_viz', executable='rtabmap_viz', output='screen',
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parameters=parameters,
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remappings=remappings,
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namespace="rtabmap"),
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])
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