mirror of
https://github.com/introlab/rtabmap_ros.git
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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
101 lines
4.2 KiB
Markdown
101 lines
4.2 KiB
Markdown
# rtabmap_demos
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- [rtabmap_demos](#rtabmap-demos)
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+ [Outdoor Stereo VSLAM](#outdoor-stereo-vslam)
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+ [Indoor 2D LiDAR and RGB-D SLAM](#indoor-2d-lidar-and-rgb-d-slam)
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+ [Multi-Session Indoor 2D LiDAR and RGB-D SLAM](#multi-session-indoor-2d-lidar-and-rgb-d-slam)
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+ [Find-Object with SLAM](#find-object-with-slam)
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+ [Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot4-nav2--2d-lidar-and-rgb-d-slam)
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+ [Turtlebot3 Nav2 and 2D LiDAR SLAM](#turtlebot3-nav2-and-2d-lidar-slam)
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+ [Turtlebot3 Nav2 and RGB-D SLAM](#turtlebot3-nav2-and-rgb-d-slam)
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+ [Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2--2d-lidar-and-rgb-d-slam)
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+ [Champ Quadruped Nav2, Elevation Map and VSLAM](#champ-quadruped-nav2--elevation-map-and-vslam)
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+ [Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM](#clearpath-husky-nav2--2d-lidar-and-rgb-d-slam)
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+ [Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM](#clearpath-husky-nav2--3d-lidar-and-rgb-d-slam)
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+ [Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM](#clearpath-husky-nav2--3d-lidar-assembling-and-rgb-d-slam)
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+ [Isaac Sim Nav2 and Stereo SLAM](#isaac-sim-nav2-and-stereo-slam)
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+ [Isaac Sim Nav2 and RGB-D VSLAM](#isaac-sim-nav2-and-rgb-d-vslam)
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### Outdoor Stereo VSLAM
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```
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ros2 launch rtabmap_demos stereo_outdoor_demo.launch.py
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```
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### Indoor 2D LiDAR and RGB-D SLAM
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```
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ros2 launch rtabmap_demos robot_mapping_demo.launch.py rviz:=true rtabmap_viz:=true
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```
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### Multi-Session Indoor 2D LiDAR and RGB-D SLAM
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```
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ros2 launch rtabmap_demos multisession_mapping_demo.launch.py
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```
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### Find-Object with SLAM
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```
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ros2 launch rtabmap_demos find_object_demo.launch.py
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```
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### Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM
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```
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ros2 launch rtabmap_demos turtlebot4_sim_demo.launch.py
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```
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### Turtlebot3 Nav2 and 2D LiDAR SLAM
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```
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ros2 launch rtabmap_demos turtlebot3_sim_scan_demo.launch.py
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```
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### Turtlebot3 Nav2 and RGB-D SLAM
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```
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ros2 launch rtabmap_demos turtlebot3_sim_rgbd_demo.launch.py
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```
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### Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM
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```
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ros2 launch rtabmap_demos turtlebot3_sim_rgbd_scan_demo.launch.py
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```
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### Champ Quadruped Nav2, Elevation Map and VSLAM
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```
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ros2 launch rtabmap_demos champ_sim_vslam.launch.py
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```
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### Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM
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```
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ros2 launch rtabmap_demos husky_sim_scan2d_demo.launch.py
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```
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### Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM
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```
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ros2 launch rtabmap_demos husky_sim_scan3d_demo.launch.py
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```
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### Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM
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```
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ros2 launch rtabmap_demos husky_sim_scan3d_assemble_demo.launch.py
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```
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### Isaac Sim Nav2 and Stereo SLAM
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```
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ros2 launch rtabmap_demos isaac_sim_vslam_demo.launch.py
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```
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### Isaac Sim Nav2 and RGB-D VSLAM
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```
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ros2 launch rtabmap_demos isaac_sim_vslam_demo.launch.py stereo:=false vo:=rtabmap
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```
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