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
118 lines
4.1 KiB
Python
118 lines
4.1 KiB
Python
# Requirements:
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# Install Turtlebot3 packages
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# Modify turtlebot3_waffle SDF:
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# 1) Edit /opt/ros/$ROS_DISTRO/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
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# 2) Add
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# <joint name="camera_rgb_optical_joint" type="fixed">
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# <parent>camera_rgb_frame</parent>
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# <child>camera_rgb_optical_frame</child>
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# <pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
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# <axis>
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# <xyz>0 0 1</xyz>
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# </axis>
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# </joint>
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# 3) Rename <link name="camera_rgb_frame"> to <link name="camera_rgb_optical_frame">
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# 4) Add <link name="camera_rgb_frame"/>
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# 5) Change <sensor name="camera" type="camera"> to <sensor name="camera" type="depth">
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# 6) Change image width/height from 1920x1080 to 640x480
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# Example:
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# $ ros2 launch rtabmap_demos turtlebot3_sim_rgbd_demo.launch.py
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#
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# Teleop:
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# $ ros2 run turtlebot3_teleop teleop_keyboard
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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, IncludeLaunchDescription, OpaqueFunction
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.substitutions import FindPackageShare
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import os
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def launch_setup(context, *args, **kwargs):
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if not 'TURTLEBOT3_MODEL' in os.environ:
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os.environ['TURTLEBOT3_MODEL'] = 'waffle'
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# Directories
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pkg_turtlebot3_gazebo = get_package_share_directory(
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'turtlebot3_gazebo')
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pkg_nav2_bringup = get_package_share_directory(
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'nav2_bringup')
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pkg_rtabmap_demos = get_package_share_directory(
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'rtabmap_demos')
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world = LaunchConfiguration('world').perform(context)
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nav2_params_file = PathJoinSubstitution(
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[FindPackageShare('rtabmap_demos'), 'params', 'turtlebot3_rgbd_nav2_params.yaml']
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)
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# Paths
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gazebo_launch = PathJoinSubstitution(
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[pkg_turtlebot3_gazebo, 'launch', f'turtlebot3_{world}.launch.py'])
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nav2_launch = PathJoinSubstitution(
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[pkg_nav2_bringup, 'launch', 'navigation_launch.py'])
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rviz_launch = PathJoinSubstitution(
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[pkg_nav2_bringup, 'launch', 'rviz_launch.py'])
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rtabmap_launch = PathJoinSubstitution(
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[pkg_rtabmap_demos, 'launch', 'turtlebot3', 'turtlebot3_rgbd.launch.py'])
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# Includes
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([gazebo_launch]),
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launch_arguments=[
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('x_pose', LaunchConfiguration('x_pose')),
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('y_pose', LaunchConfiguration('y_pose'))
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]
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)
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nav2 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([nav2_launch]),
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launch_arguments=[
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('use_sim_time', 'true'),
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('params_file', nav2_params_file)
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]
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)
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rviz = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([rviz_launch])
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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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('localization', LaunchConfiguration('localization')),
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('use_sim_time', 'true')
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]
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)
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return [
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# Nodes to launch
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nav2,
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rviz,
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rtabmap,
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gazebo
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]
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def generate_launch_description():
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return LaunchDescription([
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# Launch arguments
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DeclareLaunchArgument(
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'localization', default_value='false',
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description='Launch in localization mode.'),
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DeclareLaunchArgument(
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'world', default_value='house',
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choices=['world', 'house', 'dqn_stage1', 'dqn_stage2', 'dqn_stage3', 'dqn_stage4'],
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description='Turtlebot3 gazebo world.'),
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DeclareLaunchArgument(
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'x_pose', default_value='-2.0',
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description='Initial position of the robot in the simulator.'),
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DeclareLaunchArgument(
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'y_pose', default_value='0.5',
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description='Initial position of the robot in the simulator.'),
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OpaqueFunction(function=launch_setup)
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])
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