mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
matlabbeandBorong Yuan
c956e3780f
* Fixed odometry latency
* Fixed node ID=0 issues as msgs may not have seq. (#1202)
(cherry picked from commit 097cab0667)
* Odom: removed long processing from ros callbacks (decreasing delay, also making delay independent of the message filters topic_queue_size and sync_queue_size parameters)
* Changed a log from info->debug
* Changed a log from info->debug
* Updated default topic and sync queue_size inside nodes. Exposing topic and sync queue size params in warning when cannot synchronize. Added zed and depthai examples. Odom: Fixed imu callback group, added multi-threaded executors for all odometry nodes.
* fixed merge
* Include everything needed in example launch files for simple launch. Small fixes.
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Co-authored-by: Borong Yuan <[email protected]>
77 lines
2.8 KiB
Python
77 lines
2.8 KiB
Python
# Requirements:
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# A realsense D435i
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# Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
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# Example:
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# $ ros2 launch rtabmap_examples realsense_d435i_infra.launch.py
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import os
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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_ros.actions import Node, SetParameter
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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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':False,
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'wait_imu_to_init':True}]
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remappings=[
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('imu', '/imu/data'),
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('rgb/image', '/camera/infra1/image_rect_raw'),
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('rgb/camera_info', '/camera/infra1/camera_info'),
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('depth/image', '/camera/depth/image_rect_raw')]
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return LaunchDescription([
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#Hack to disable IR emitter
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SetParameter(name='depth_module.emitter_enabled', value=0),
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# Launch camera driver
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('realsense2_camera'), 'launch'),
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'/rs_launch.py']),
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launch_arguments={'enable_gyro': 'true',
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'enable_accel': 'true',
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'unite_imu_method': '1',
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'enable_infra1': 'true',
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'enable_infra2': 'true',
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'enable_sync': 'true'}.items(),
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),
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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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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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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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# Compute quaternion of the IMU
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Node(
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package='imu_filter_madgwick', executable='imu_filter_madgwick_node', output='screen',
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parameters=[{'use_mag': False,
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'world_frame':'enu',
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'publish_tf':False}],
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remappings=[('imu/data_raw', '/camera/imu')]),
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# The IMU frame is missing in TF tree, add it:
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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', '0', '0', '0', 'camera_gyro_optical_frame', 'camera_imu_optical_frame']),
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])
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