mirror of
https://github.com/introlab/rtabmap_ros.git
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80 lines
3.3 KiB
Python
80 lines
3.3 KiB
Python
#
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# Note: Make sure you have this fix for turtlebot4_description https://github.com/turtlebot/turtlebot4/pull/434,
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# otherwise, the lidar and camera point cloud won't be aligned correctly.
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#
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# Example:
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# 1) Launch simulator (turtlebot4, nav2 and rtabmap):
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# $ ros2 launch rtabmap_demos turtlebot4_ignition.launch.py
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#
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# 2) Click on "Play" button on bottom-left of gazebo.
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#
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# 3) Click on double points ".." button on top-right next to power button to undock.
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#
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# 4) 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
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# c) By using autonomous exploration node (tested with https://github.com/robo-friends/m-explore-ros2):
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# $ ros2 launch explore_lite explore.launch.py
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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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ARGUMENTS = [
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DeclareLaunchArgument('rviz', default_value='true',
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choices=['true', 'false'], description='Start rviz.'),
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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('nav2', default_value='true',
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choices=['true', 'false'], description='Start nav2.'),
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DeclareLaunchArgument('world', default_value='warehouse',
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description='Ignition World'),
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]
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def generate_launch_description():
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# Directories
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pkg_turtlebot4_ignition_bringup = get_package_share_directory(
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'turtlebot4_ignition_bringup')
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pkg_rtabmap_demos = get_package_share_directory(
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'rtabmap_demos')
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# Paths
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ignition_launch = PathJoinSubstitution(
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[pkg_turtlebot4_ignition_bringup, 'launch', 'turtlebot4_ignition.launch.py'])
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rtabmap_launch = PathJoinSubstitution(
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[pkg_rtabmap_demos, 'launch', 'turtlebot4_slam.launch.py'])
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ignition = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([ignition_launch]),
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launch_arguments=[
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('world', LaunchConfiguration('world')),
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('slam', 'false'),
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('localization', 'false'),
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('nav2', LaunchConfiguration('nav2')),
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('rviz', LaunchConfiguration('rviz'))
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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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('qos', '2'),
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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) # put it first so that localization arg is not overwritten by the same used by ignition
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ld.add_action(ignition)
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return ld |