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
54 lines
1.8 KiB
Python
54 lines
1.8 KiB
Python
# Requirements:
|
|
# A kinect for xbox 360
|
|
# Install kinect_ros2 package (use this fork: https://github.com/matlabbe/kinect_ros2)
|
|
|
|
from launch import LaunchDescription
|
|
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
|
|
from launch.substitutions import LaunchConfiguration
|
|
from launch_ros.actions import Node
|
|
|
|
def generate_launch_description():
|
|
parameters=[{
|
|
'frame_id':'camera_link',
|
|
'subscribe_depth':True,
|
|
'subscribe_odom_info':True,
|
|
'approx_sync':True}]
|
|
|
|
remappings=[
|
|
('rgb/image', '/kinect/rgb/image_raw'),
|
|
('rgb/camera_info', '/kinect/rgb/camera_info'),
|
|
('depth/image', '/kinect/depth_registered/image_raw')]
|
|
|
|
return LaunchDescription([
|
|
|
|
# Nodes to launch
|
|
Node(
|
|
package='kinect_ros2', executable='kinect_ros2_node', output='screen',
|
|
parameters=[{'depth_registration':True}],
|
|
namespace="kinect"),
|
|
|
|
# Optical rotation
|
|
Node(
|
|
package='tf2_ros', executable='static_transform_publisher', output='screen',
|
|
arguments=["0", "0", "0", "-1.57", "0", "-1.57", "camera_link", "kinect_rgb"]),
|
|
|
|
Node(
|
|
package='rtabmap_odom', executable='rgbd_odometry', output='screen',
|
|
parameters=parameters,
|
|
remappings=remappings,
|
|
namespace="rtabmap"),
|
|
|
|
Node(
|
|
package='rtabmap_slam', executable='rtabmap', output='screen',
|
|
parameters=parameters,
|
|
remappings=remappings,
|
|
arguments=['-d'],
|
|
namespace="rtabmap"),
|
|
|
|
Node(
|
|
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
|
|
parameters=parameters,
|
|
remappings=remappings,
|
|
namespace="rtabmap"),
|
|
])
|