mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
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
41 lines
1.2 KiB
Markdown
41 lines
1.2 KiB
Markdown
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# Usage
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`rtabmap.launch` from ros1 has been ported to ROS2 as `rtabmap.launch.py` with same arguments. If you see [ROS1 examples](http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping) like this:
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```bash
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roslaunch zed_wrapper zed_no_tf.launch
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roslaunch rtabmap_ros rtabmap.launch \
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rtabmap_args:="--delete_db_on_start" \
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rgb_topic:=/zed/zed_node/rgb/image_rect_color \
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depth_topic:=/zed/zed_node/depth/depth_registered \
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camera_info_topic:=/zed/zed_node/rgb/camera_info \
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frame_id:=base_link \
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approx_sync:=false \
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wait_imu_to_init:=true \
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imu_topic:=/zed_node/imu/data
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```
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The ROS2 equivalent is (using latest zed_wrapper launch file):
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```bash
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ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
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publish_tf:=false \
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publish_map_tf:=false
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ros2 launch rtabmap_launch rtabmap.launch.py \
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rtabmap_args:="--delete_db_on_start" \
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rgb_topic:=/zed/zed_node/rgb/image_rect_color \
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depth_topic:=/zed/zed_node/depth/depth_registered \
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camera_info_topic:=/zed/zed_node/rgb/camera_info \
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frame_id:=zed_camera_link \
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approx_sync:=false \
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wait_imu_to_init:=true \
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imu_topic:=/zed/zed_node/imu/data \
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rviz:=true
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```
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