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rtabmap_ros/launch/ros2/rtabmap.launch.py
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from launch import LaunchDescription, Substitution, LaunchContext
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, LogInfo, OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PythonExpression
from launch.conditions import IfCondition, UnlessCondition
from launch_ros.actions import Node
from typing import Text
#Based on https://answers.ros.org/question/363763/ros2-how-best-to-conditionally-include-a-prefix-in-a-launchpy-file/
class ConditionalText(Substitution):
def __init__(self, text_if, text_else, condition):
self.text_if = text_if
self.text_else = text_else
self.condition = condition
def perform(self, context: 'LaunchContext') -> Text:
if self.condition:
return self.text_if
else:
return self.text_else
class ConditionalBool(Substitution):
def __init__(self, text_if, text_else, condition):
self.text_if = text_if
self.text_else = text_else
self.condition = condition
def perform(self, context: 'LaunchContext') -> bool:
if self.condition:
return self.text_if
else:
return self.text_else
def launch_setup(context, *args, **kwargs):
return [
DeclareLaunchArgument('depth', default_value=ConditionalText('false', 'true', IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true'"]))._predicate_func(context)), description=''),
DeclareLaunchArgument('subscribe_rgb', default_value=LaunchConfiguration('depth'), description=''),
#These arguments should not be modified directly, see referred topics without "_relay" suffix above
DeclareLaunchArgument('rgb_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('rgb_topic').perform(context), "_relay"]), LaunchConfiguration('rgb_topic').perform(context), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
DeclareLaunchArgument('depth_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('depth_topic').perform(context), "_relay"]), LaunchConfiguration('depth_topic').perform(context), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
DeclareLaunchArgument('left_image_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('left_image_topic').perform(context), "_relay"]), LaunchConfiguration('left_image_topic').perform(context), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
DeclareLaunchArgument('right_image_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('right_image_topic').perform(context), "_relay"]), LaunchConfiguration('right_image_topic'), LaunchConfiguration('compressed')), description='Should not be modified manually!'),
DeclareLaunchArgument('rgbd_topic_relay', default_value=ConditionalText(LaunchConfiguration('rgbd_topic').perform(context), ''.join([LaunchConfiguration('rgbd_topic').perform(context), "_relay"]), LaunchConfiguration('rgbd_sync')), description='Should not be modified manually!'),
# Relays RGB-Depth
Node(
package='image_transport', executable='republish', name='republish_rgb',
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' != 'true' and ('", LaunchConfiguration('subscribe_rgbd'), "' != 'true' or '", LaunchConfiguration('rgbd_sync'),"'=='true') and '", LaunchConfiguration('compressed'), "' == 'true'"])),
remappings=[
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('rgb_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
('out', LaunchConfiguration('rgb_topic_relay'))],
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
namespace=LaunchConfiguration('namespace')),
Node(
package='image_transport', executable='republish', name='republish_depth',
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' != 'true' and ('", LaunchConfiguration('subscribe_rgbd'), "' != 'true' or '", LaunchConfiguration('rgbd_sync'),"'=='true') and '", LaunchConfiguration('compressed'), "' == 'true'"])),
remappings=[
(['in/', LaunchConfiguration('depth_image_transport')], [LaunchConfiguration('depth_topic'), '/', LaunchConfiguration('depth_image_transport')]),
('out', LaunchConfiguration('depth_topic_relay'))],
arguments=[LaunchConfiguration('depth_image_transport'), 'raw'],
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_ros', executable='rgbd_sync', output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' != 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
parameters=[{
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
"queue_size": LaunchConfiguration('queue_size'),
"depth_scale": LaunchConfiguration('depth_scale')}],
remappings=[
("rgb/image", LaunchConfiguration('rgb_topic_relay')),
("depth/image", LaunchConfiguration('depth_topic_relay')),
("rgb/camera_info", LaunchConfiguration('camera_info_topic')),
("rgbd_image", LaunchConfiguration('rgbd_topic_relay'))],
namespace=LaunchConfiguration('namespace')),
# Relays Stereo
Node(
package='image_transport', executable='republish', name='republish_left',
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and ('", LaunchConfiguration('subscribe_rgbd'), "' != 'true' or '", LaunchConfiguration('rgbd_sync'),"'=='true') and '", LaunchConfiguration('compressed'), "' == 'true'"])),
remappings=[
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('left_image_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
('out', LaunchConfiguration('left_image_topic_relay'))],
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
namespace=LaunchConfiguration('namespace')),
Node(
package='image_transport', executable='republish', name='republish_right',
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and ('", LaunchConfiguration('subscribe_rgbd'), "' != 'true' or '", LaunchConfiguration('rgbd_sync'),"'=='true') and '", LaunchConfiguration('compressed'), "' == 'true'"])),
remappings=[
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('right_image_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
('out', LaunchConfiguration('right_image_topic_relay'))],
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_ros', executable='stereo_sync', output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
parameters=[{
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
"queue_size": LaunchConfiguration('queue_size')}],
remappings=[
("left/image_rect", LaunchConfiguration('left_image_topic_relay')),
("right/image_rect", LaunchConfiguration('right_image_topic_relay')),
("left/camera_info", LaunchConfiguration('left_camera_info_topic')),
("right/camera_info", LaunchConfiguration('right_camera_info_topic')),
("rgbd_image", LaunchConfiguration('rgbd_topic_relay'))],
namespace=LaunchConfiguration('namespace')),
# Relay rgbd_image
Node(
package='rtabmap_ros', executable='rgbd_relay', output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('rgbd_sync'), "' != 'true' and '", LaunchConfiguration('subscribe_rgbd'), "' == 'true' and '", LaunchConfiguration('compressed'), "' != 'true'"])),
remappings=[
("rgbd_image", LaunchConfiguration('rgbd_topic'))],
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_ros', executable='rgbd_relay', output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('rgbd_sync'), "' != 'true' and '", LaunchConfiguration('subscribe_rgbd'), "' == 'true' and '", LaunchConfiguration('compressed'), "' == 'true'"])),
parameters=[{
"uncompress": True}],
remappings=[
("rgbd_image", [LaunchConfiguration('rgbd_topic'), "/compressed"]),
([LaunchConfiguration('rgbd_topic'), "/compressed_relay"], LaunchConfiguration('rgbd_topic_relay'))],
namespace=LaunchConfiguration('namespace')),
# RGB-D odometry
Node(
package='rtabmap_ros', executable='rgbd_odometry', output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' != 'true' and '", LaunchConfiguration('visual_odometry'), "' == 'true' and '", LaunchConfiguration('stereo'), "' != 'true'"])),
parameters=[{
"frame_id": LaunchConfiguration('frame_id'),
"odom_frame_id": LaunchConfiguration('vo_frame_id'),
"publish_tf": LaunchConfiguration('publish_tf_odom'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
"wait_for_transform_duration": LaunchConfiguration('wait_for_transform'),
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg'),
"queue_size": LaunchConfiguration('queue_size'),
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
remappings=[
("rgb/image", LaunchConfiguration('rgb_topic_relay')),
("depth/image", LaunchConfiguration('depth_topic_relay')),
("rgb/camera_info", LaunchConfiguration('camera_info_topic')),
("rgbd_image", LaunchConfiguration('rgbd_topic_relay')),
("odom", LaunchConfiguration('odom_topic')),
("imu", LaunchConfiguration('imu_topic'))],
arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
prefix=LaunchConfiguration('launch_prefix'),
namespace=LaunchConfiguration('namespace')),
# Stereo odometry
Node(
package='rtabmap_ros', executable='stereo_odometry', output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' != 'true' and '", LaunchConfiguration('visual_odometry'), "' == 'true' and '", LaunchConfiguration('stereo'), "' == 'true'"])),
parameters=[{
"frame_id": LaunchConfiguration('frame_id'),
"odom_frame_id": LaunchConfiguration('vo_frame_id'),
"publish_tf": LaunchConfiguration('publish_tf_odom'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
"wait_for_transform_duration": LaunchConfiguration('wait_for_transform'),
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg'),
"queue_size": LaunchConfiguration('queue_size'),
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
remappings=[
("left/image_rect", LaunchConfiguration('left_image_topic_relay')),
("right/image_rect", LaunchConfiguration('right_image_topic_relay')),
("left/camera_info", LaunchConfiguration('left_camera_info_topic')),
("right/camera_info", LaunchConfiguration('right_camera_info_topic')),
("rgbd_image", LaunchConfiguration('rgbd_topic_relay')),
("odom", LaunchConfiguration('odom_topic')),
("imu", LaunchConfiguration('imu_topic'))],
arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
prefix=LaunchConfiguration('launch_prefix'),
namespace=LaunchConfiguration('namespace')),
# ICP odometry
Node(
package='rtabmap_ros', executable='icp_odometry', output="screen",
condition=IfCondition(LaunchConfiguration('icp_odometry')),
parameters=[{
"frame_id": LaunchConfiguration('frame_id'),
"odom_frame_id": LaunchConfiguration('vo_frame_id'),
"publish_tf": LaunchConfiguration('publish_tf_odom'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
"wait_for_transform_duration": LaunchConfiguration('wait_for_transform'),
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg'),
"queue_size": LaunchConfiguration('queue_size'),
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id'),
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
remappings=[
("scan", LaunchConfiguration('scan_topic')),
("scan_cloud", LaunchConfiguration('scan_cloud_topic')),
("odom", LaunchConfiguration('odom_topic')),
("imu", LaunchConfiguration('imu_topic'))],
arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
prefix=LaunchConfiguration('launch_prefix'),
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_ros', executable='rtabmap', output="screen",
parameters=[{
"subscribe_depth": LaunchConfiguration('depth'),
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
"subscribe_rgb": LaunchConfiguration('subscribe_rgb'),
"subscribe_stereo": LaunchConfiguration('stereo'),
"subscribe_scan": LaunchConfiguration('subscribe_scan'),
"subscribe_scan_cloud": LaunchConfiguration('subscribe_scan_cloud'),
"subscribe_user_data": LaunchConfiguration('subscribe_user_data'),
"subscribe_odom_info": ConditionalBool(True, False, IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' == 'true' or '", LaunchConfiguration('visual_odometry'), "' == 'true'"]))._predicate_func(context)).perform(context),
"frame_id": LaunchConfiguration('frame_id'),
"map_frame_id": LaunchConfiguration('map_frame_id'),
"odom_frame_id": LaunchConfiguration('odom_frame_id'),
"publish_tf": LaunchConfiguration('publish_tf_map'),
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id'),
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id'),
"odom_tf_angular_variance": LaunchConfiguration('odom_tf_angular_variance'),
"odom_tf_linear_variance": LaunchConfiguration('odom_tf_linear_variance'),
"odom_sensor_sync": LaunchConfiguration('odom_sensor_sync'),
"wait_for_transform_duration": LaunchConfiguration('wait_for_transform'),
"database_path": LaunchConfiguration('database_path'),
"approx_sync": LaunchConfiguration('approx_sync'),
"config_path": LaunchConfiguration('cfg'),
"queue_size": LaunchConfiguration('queue_size'),
"scan_normal_k": LaunchConfiguration('scan_normal_k'),
"landmark_linear_variance": LaunchConfiguration('tag_linear_variance'),
"landmark_angular_variance": LaunchConfiguration('tag_angular_variance'),
"Mem/IncrementalMemory": ConditionalText("true", "false", IfCondition(PythonExpression(["'", LaunchConfiguration('localization'), "' != 'true'"]))._predicate_func(context)).perform(context),
"Mem/InitWMWithAllNodes": ConditionalText("true", "false", IfCondition(PythonExpression(["'", LaunchConfiguration('localization'), "' == 'true'"]))._predicate_func(context)).perform(context)
}],
remappings=[
("rgb/image", LaunchConfiguration('rgb_topic_relay')),
("depth/image", LaunchConfiguration('depth_topic_relay')),
("rgb/camera_info", LaunchConfiguration('camera_info_topic')),
("rgbd_image", LaunchConfiguration('rgbd_topic_relay')),
("left/image_rect", LaunchConfiguration('left_image_topic_relay')),
("right/image_rect", LaunchConfiguration('right_image_topic_relay')),
("left/camera_info", LaunchConfiguration('left_camera_info_topic')),
("right/camera_info", LaunchConfiguration('right_camera_info_topic')),
("scan", LaunchConfiguration('scan_topic')),
("scan_cloud", LaunchConfiguration('scan_cloud_topic')),
("user_data", LaunchConfiguration('user_data_topic')),
("user_data_async", LaunchConfiguration('user_data_async_topic')),
("gps/fix", LaunchConfiguration('gps_topic')),
("tag_detections", LaunchConfiguration('tag_topic')),
("odom", LaunchConfiguration('odom_topic')),
("imu", LaunchConfiguration('imu_topic'))],
arguments=[LaunchConfiguration("args")],
prefix=LaunchConfiguration('launch_prefix'),
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_ros', executable='rtabmapviz', output='screen',
parameters=[{
"subscribe_depth": LaunchConfiguration('depth'),
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
"subscribe_rgb": LaunchConfiguration('subscribe_rgb'),
"subscribe_stereo": LaunchConfiguration('stereo'),
"subscribe_scan": LaunchConfiguration('subscribe_scan'),
"subscribe_scan_cloud": LaunchConfiguration('subscribe_scan_cloud'),
"subscribe_user_data": LaunchConfiguration('subscribe_user_data'),
"subscribe_odom_info": ConditionalBool(True, False, IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' == 'true' or '", LaunchConfiguration('visual_odometry'), "' == 'true'"]))._predicate_func(context)).perform(context),
"frame_id": LaunchConfiguration('frame_id'),
"odom_frame_id": LaunchConfiguration('odom_frame_id'),
"wait_for_transform_duration": LaunchConfiguration('wait_for_transform'),
"approx_sync": LaunchConfiguration('approx_sync'),
"queue_size": LaunchConfiguration('queue_size')
}],
remappings=[
("rgb/image", LaunchConfiguration('rgb_topic_relay')),
("depth/image", LaunchConfiguration('depth_topic_relay')),
("rgb/camera_info", LaunchConfiguration('camera_info_topic')),
("rgbd_image", LaunchConfiguration('rgbd_topic_relay')),
("left/image_rect", LaunchConfiguration('left_image_topic_relay')),
("right/image_rect", LaunchConfiguration('right_image_topic_relay')),
("left/camera_info", LaunchConfiguration('left_camera_info_topic')),
("right/camera_info", LaunchConfiguration('right_camera_info_topic')),
("scan", LaunchConfiguration('scan_topic')),
("scan_cloud", LaunchConfiguration('scan_cloud_topic')),
("odom", LaunchConfiguration('odom_topic'))],
condition=IfCondition(LaunchConfiguration("rtabmapviz")),
arguments=[LaunchConfiguration("gui_cfg")],
prefix=LaunchConfiguration('launch_prefix'),
namespace=LaunchConfiguration('namespace'))]
def generate_launch_description():
return LaunchDescription([
# Set env var to print messages to stdout immediately
SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
# Arguments
DeclareLaunchArgument('stereo', default_value='false', description='Use stereo input instead of RGB-D.'),
DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
DeclareLaunchArgument('rtabmapviz', default_value='true', description='Launch RTAB-Map UI (optional).'),
# Config files
DeclareLaunchArgument('cfg', default_value='', description='To change RTAB-Map\'s parameters, set the path of config file (*.ini) generated by the standalone app.'),
DeclareLaunchArgument('gui_cfg', default_value='~/.ros/rtabmap_gui.ini', description='Configuration path of rtabmapviz.'),
DeclareLaunchArgument('frame_id', default_value='base_link', description='Fixed frame id of the robot (base frame), you may set "base_link" or "base_footprint" if they are published. For camera-only config, this could be "camera_link".'),
DeclareLaunchArgument('odom_frame_id', default_value='', description='If set, TF is used to get odometry instead of the topic.'),
DeclareLaunchArgument('map_frame_id', default_value='', description='Output map frame id (TF).'),
DeclareLaunchArgument('publish_tf_map', default_value='true', description='Publish TF between map and odomerty.'),
DeclareLaunchArgument('namespace', default_value='rtabmap', description=''),
DeclareLaunchArgument('database_path', default_value='~/.ros/rtabmap.db', description='Where is the map saved/loaded.'),
DeclareLaunchArgument('queue_size', default_value='10', description=''),
DeclareLaunchArgument('wait_for_transform', default_value='0.2', description=''),
DeclareLaunchArgument('args', default_value='', description='Can be used to pass RTAB-Map\'s parameters or other flags like --udebug and --delete_db_on_start/-d'),
DeclareLaunchArgument('launch_prefix', default_value='', description='For debugging purpose, it fills prefix tag of the nodes, e.g., "xterm -e gdb -ex run --args"'),
DeclareLaunchArgument('output', default_value='screen', description='Control node output (screen or log).'),
DeclareLaunchArgument('ground_truth_frame_id', default_value='', description='e.g., "world"'),
DeclareLaunchArgument('ground_truth_base_frame_id', default_value='', description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree)'),
DeclareLaunchArgument('approx_sync', default_value='false', description='If timestamps of the input topics should be synchronized using approximate or exact time policy.'),
# RGB-D related topics
DeclareLaunchArgument('rgb_topic', default_value='/camera/rgb/image_rect_color', description=''),
DeclareLaunchArgument('depth_topic', default_value='/camera/depth_registered/image_raw', description=''),
DeclareLaunchArgument('camera_info_topic', default_value='/camera/rgb/camera_info', description=''),
# Stereo related topics
DeclareLaunchArgument('stereo_namespace', default_value='/stereo_camera', description=''),
DeclareLaunchArgument('left_image_topic', default_value=[LaunchConfiguration('stereo_namespace'), '/left/image_rect_color'], description=''),
DeclareLaunchArgument('right_image_topic', default_value=[LaunchConfiguration('stereo_namespace'), '/right/image_rect'], description='Use grayscale image for efficiency'),
DeclareLaunchArgument('left_camera_info_topic', default_value=[LaunchConfiguration('stereo_namespace'), '/left/camera_info'], description=''),
DeclareLaunchArgument('right_camera_info_topic', default_value=[LaunchConfiguration('stereo_namespace'), '/right/camera_info'], description=''),
# Use Pre-sync RGBDImage format
DeclareLaunchArgument('rgbd_sync', default_value='false', description='Pre-sync rgb_topic, depth_topic, camera_info_topic.'),
DeclareLaunchArgument('approx_rgbd_sync', default_value='true', description='false=exact synchronization.'),
DeclareLaunchArgument('subscribe_rgbd', default_value=LaunchConfiguration('rgbd_sync'), description='Already synchronized RGB-D related topic, e.g., with rtabmap_ros/rgbd_sync nodelet.'),
DeclareLaunchArgument('rgbd_topic', default_value='rgbd_image', description=''),
DeclareLaunchArgument('depth_scale', default_value='1.0', description=''),
# Image topic compression
DeclareLaunchArgument('compressed', default_value='false', description='If you want to subscribe to compressed image topics'),
DeclareLaunchArgument('rgb_image_transport', default_value='compressed', description='Common types: compressed, theora (see "rosrun image_transport list_transports")'),
DeclareLaunchArgument('depth_image_transport', default_value='compressedDepth', description='Depth compatible types: compressedDepth (see "rosrun image_transport list_transports")'),
# LiDAR
DeclareLaunchArgument('subscribe_scan', default_value='false', description=''),
DeclareLaunchArgument('scan_topic', default_value='/scan', description=''),
DeclareLaunchArgument('subscribe_scan_cloud', default_value='false', description=''),
DeclareLaunchArgument('scan_cloud_topic', default_value='/scan_cloud', description=''),
DeclareLaunchArgument('scan_normal_k', default_value='0', description=''),
# Odometry
DeclareLaunchArgument('visual_odometry', default_value='true', description='Launch rtabmap visual odometry node.'),
DeclareLaunchArgument('icp_odometry', default_value='false', description='Launch rtabmap icp odometry node.'),
DeclareLaunchArgument('odom_topic', default_value='odom', description='Odometry topic name.'),
DeclareLaunchArgument('vo_frame_id', default_value=LaunchConfiguration('odom_topic'), description='Visual/Icp odometry frame ID for TF.'),
DeclareLaunchArgument('publish_tf_odom', default_value='true', description=''),
DeclareLaunchArgument('odom_tf_angular_variance', default_value='1.0', description='If TF is used to get odometry, this is the default angular variance'),
DeclareLaunchArgument('odom_tf_linear_variance', default_value='1.0', description='If TF is used to get odometry, this is the default linear variance'),
DeclareLaunchArgument('odom_args', default_value='', description='More arguments for odometry (overwrite same parameters in rtabmap_args).'),
DeclareLaunchArgument('odom_sensor_sync', default_value='false', description=''),
DeclareLaunchArgument('odom_guess_frame_id', default_value='', description=''),
DeclareLaunchArgument('odom_guess_min_translation', default_value='0.0', description=''),
DeclareLaunchArgument('odom_guess_min_rotation', default_value='0.0', description=''),
# imu
DeclareLaunchArgument('imu_topic', default_value='/imu/data', description='Used with VIO approaches and for SLAM graph optimization (gravity constraints).'),
DeclareLaunchArgument('wait_imu_to_init', default_value='false', description=''),
# User Data
DeclareLaunchArgument('subscribe_user_data', default_value='false', description='User data synchronized subscription.'),
DeclareLaunchArgument('user_data_topic', default_value='/user_data', description=''),
DeclareLaunchArgument('user_data_async_topic', default_value='/user_data_async', description='User data async subscription (rate should be lower than map update rate).'),
#GPS
DeclareLaunchArgument('gps_topic', default_value='/gps/fix', description='GPS async subscription. This is used for SLAM graph optimization and loop closure candidates selection.'),
# Tag/Landmark
DeclareLaunchArgument('tag_topic', default_value='/tag_detections', description='AprilTag topic async subscription. This is used for SLAM graph optimization and loop closure detection. Landmark poses are also published accordingly to current optimized map.'),
DeclareLaunchArgument('tag_linear_variance', default_value='0.0001', description=''),
DeclareLaunchArgument('tag_angular_variance', default_value='9999.0', description='>=9999 means rotation is ignored in optimization, when rotation estimation of the tag is not reliable or not computed.'),
OpaqueFunction(function=launch_setup)
])
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