mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
111 lines
4.4 KiB
Python
111 lines
4.4 KiB
Python
#
|
|
# Requirements:
|
|
# - Install: ros-$ROS_DISTRO-clearpath-simulator ros-$ROS_DISTRO-clearpath-nav2-demos ros-$ROS_DISTRO-clearpath-config ros-$ROS_DISTRO-moveit-setup-srdf-plugins
|
|
# - Copy /opt/ros/humble/share/clearpath_config/sample/a200_sample.yaml to ~/clearpath/robot.yaml
|
|
# - Fix camera intrinsics by editing /opt/ros/humble/share/clearpath_sensors_description/urdf/intel_realsense.urdf.xacro:
|
|
# <horizontal_fov>1.047</horizontal_fov>
|
|
# <image>
|
|
# <width>320</width>
|
|
# <height>240</height>
|
|
# </image>
|
|
# - Fix lidar sim distortions by editing /opt/ros/humble/share/clearpath_gz/worlds/warehouse.sdf (https://github.com/gazebosim/gz-sim/issues/2743):
|
|
# - <render_engine>ogre2</render_engine>
|
|
# + <render_engine>ogre</render_engine>
|
|
#
|
|
# Example with gazebo:
|
|
# 1) Launch simulator (husky, nav2 and rtabmap):
|
|
# $ ros2 launch rtabmap_demos husky_sim_scan3d_demo.launch.py robot_ns:=a200_0000
|
|
#
|
|
# 2) Click on "Play" button on bottom-left of gazebo as soon as you can see it to avoid controllers crashing after 5 sec.
|
|
#
|
|
# 3) Move the robot:
|
|
# b) By sending goals with RVIZ's "Nav2 Goal" button in action bar.
|
|
# a) By teleoperating:
|
|
# $ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/a200_0000/cmd_vel
|
|
#
|
|
|
|
from ament_index_python.packages import get_package_share_directory
|
|
|
|
from launch import LaunchDescription
|
|
from launch.actions import DeclareLaunchArgument
|
|
from launch.actions import IncludeLaunchDescription
|
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
|
|
|
import os
|
|
|
|
ARGUMENTS = [
|
|
DeclareLaunchArgument('rtabmap_viz', default_value='true',
|
|
choices=['true', 'false'], description='Start rtabmap_viz.'),
|
|
DeclareLaunchArgument('localization', default_value='false',
|
|
choices=['true', 'false'], description='Start rtabmap in localization mode (a map should have been already created).'),
|
|
DeclareLaunchArgument('world', default_value='warehouse',
|
|
description='Ignition World'),
|
|
DeclareLaunchArgument('robot_ns', default_value='a200_0000',
|
|
description='Robot namespace'),
|
|
DeclareLaunchArgument('use_camera', default_value='true',
|
|
description='Use camera for global loop closure / re-localization.'),
|
|
]
|
|
|
|
def generate_launch_description():
|
|
# Directories
|
|
pkg_clearpath_gz = get_package_share_directory(
|
|
'clearpath_gz')
|
|
pkg_clearpath_viz = get_package_share_directory(
|
|
'clearpath_viz')
|
|
pkg_rtabmap_demos = get_package_share_directory(
|
|
'rtabmap_demos')
|
|
pkg_clearpath_nav2_demos = get_package_share_directory(
|
|
'clearpath_nav2_demos')
|
|
|
|
# Paths
|
|
sim_launch = PathJoinSubstitution(
|
|
[pkg_clearpath_gz, 'launch', 'simulation.launch.py'])
|
|
viz_launch = PathJoinSubstitution(
|
|
[pkg_clearpath_viz, 'launch', 'view_navigation.launch.py'])
|
|
rtabmap_launch = PathJoinSubstitution(
|
|
[pkg_rtabmap_demos, 'launch', 'husky', 'husky_slam3d.launch.py'])
|
|
nav2_launch = PathJoinSubstitution(
|
|
[pkg_clearpath_nav2_demos, 'launch', 'nav2.launch.py'])
|
|
|
|
sim = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource([sim_launch]),
|
|
launch_arguments=[
|
|
('world', LaunchConfiguration('world')),
|
|
]
|
|
)
|
|
|
|
viz = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource([viz_launch]),
|
|
launch_arguments=[
|
|
('namespace', LaunchConfiguration('robot_ns')),
|
|
]
|
|
)
|
|
|
|
rtabmap = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource([rtabmap_launch]),
|
|
launch_arguments=[
|
|
('rtabmap_viz', LaunchConfiguration('rtabmap_viz')),
|
|
('localization', LaunchConfiguration('localization')),
|
|
('use_sim_time', 'true'),
|
|
('use_camera', LaunchConfiguration('use_camera')),
|
|
('robot_ns', LaunchConfiguration('robot_ns'))
|
|
]
|
|
)
|
|
|
|
nav2 = IncludeLaunchDescription(
|
|
PythonLaunchDescriptionSource([nav2_launch]),
|
|
launch_arguments=[
|
|
('setup_path', os.path.expanduser('~')+'/clearpath/'),
|
|
('use_sim_time', 'true'),
|
|
]
|
|
)
|
|
|
|
# Create launch description and add actions
|
|
ld = LaunchDescription(ARGUMENTS)
|
|
ld.add_action(rtabmap)
|
|
ld.add_action(sim)
|
|
ld.add_action(viz)
|
|
ld.add_action(nav2)
|
|
return ld
|