mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +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
129 lines
4.6 KiB
Python
129 lines
4.6 KiB
Python
#
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#
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# Example with gazebo:
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# 1) Launch simulator (husky):
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# $ ros2 launch clearpath_gz simulation.launch.py
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# Click on "Play" button on bottom-left of gazebo as soon as you can see it to avoid controllers crashing after 5 sec.
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#
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# 2) Launch rviz:
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# $ ros2 launch clearpath_viz view_navigation.launch.py namespace:=a200_0000
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#
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# 3) Launch SLAM:
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# $ ros2 launch rtabmap_demos husky_slam2d.launch.py use_sim_time:=true
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#
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# 4) Launch nav2"
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# $ ros2 launch clearpath_nav2_demos nav2.launch.py setup_path:=$HOME/clearpath/ use_sim_time:=true
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#
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# 4) Click on "Play" button on bottom-left of gazebo.
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#
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# 5) Move the robot:
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# b) By sending goals with RVIZ's "Nav2 Goal" button in action bar.
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# a) By teleoperating:
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# $ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/a200_0000/cmd_vel
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#
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
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from launch.substitutions import LaunchConfiguration
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from launch.conditions import IfCondition, UnlessCondition
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from launch_ros.actions import Node
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time')
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localization = LaunchConfiguration('localization')
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robot_ns = LaunchConfiguration('robot_ns')
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icp_odom_parameters={
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'odom_frame_id':'icp_odom',
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'guess_frame_id':'odom'
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}
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rtabmap_parameters={
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'subscribe_rgbd':True,
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'subscribe_scan':True,
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'use_action_for_goal':True,
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'odom_sensor_sync': True,
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# RTAB-Map's parameters should be strings:
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'Mem/NotLinkedNodesKept':'false',
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'Grid/RangeMin':'0.7', # ignore laser scan points on the robot itself
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'RGBD/OptimizeMaxError':'2',
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}
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# Shared parameters between different nodes
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shared_parameters={
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'frame_id':'base_link',
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'use_sim_time':use_sim_time,
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# RTAB-Map's parameters should be strings:
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'Reg/Strategy':'1',
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'Reg/Force3DoF':'true', # we are moving on a 2D flat floor
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'Mem/NotLinkedNodesKept':'false',
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'Icp/PointToPlaneMinComplexity':'0.04', # to be more robust to long corridors with low geometry
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'Icp/MaxTranslation': '1'
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}
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remappings=[
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('/tf', 'tf'),
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('/tf_static', 'tf_static'),
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('odom', 'icp_odom'),
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('scan', 'sensors/lidar2d_0/scan'),
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('rgb/image', 'sensors/camera_0/color/image'),
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('rgb/camera_info', 'sensors/camera_0/color/camera_info'),
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('depth/image', 'sensors/camera_0/depth/image')]
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return LaunchDescription([
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# Launch arguments
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DeclareLaunchArgument(
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'use_sim_time', default_value='false', choices=['true', 'false'],
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description='Use simulation (Gazebo) clock if true'),
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DeclareLaunchArgument(
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'localization', default_value='false', choices=['true', 'false'],
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description='Launch rtabmap in localization mode (a map should have been already created).'),
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DeclareLaunchArgument(
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'robot_ns', default_value='a200_0000',
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description='Robot namespace.'),
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# Nodes to launch
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Node(
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package='rtabmap_sync', executable='rgbd_sync', output='screen',
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namespace=robot_ns,
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parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time}],
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remappings=remappings),
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Node(
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package='rtabmap_odom', executable='icp_odometry', output='screen',
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namespace=robot_ns,
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parameters=[icp_odom_parameters, shared_parameters],
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remappings=remappings,
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arguments=["--ros-args", "--log-level", 'warn']),
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# SLAM Mode:
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Node(
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condition=UnlessCondition(localization),
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package='rtabmap_slam', executable='rtabmap', output='screen',
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namespace=robot_ns,
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parameters=[rtabmap_parameters, shared_parameters],
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remappings=remappings,
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arguments=['-d']),
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# Localization mode:
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Node(
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condition=IfCondition(localization),
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package='rtabmap_slam', executable='rtabmap', output='screen',
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namespace=robot_ns,
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parameters=[rtabmap_parameters, shared_parameters,
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{'Mem/IncrementalMemory':'False',
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'Mem/InitWMWithAllNodes':'True'}],
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remappings=remappings),
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Node(
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package='rtabmap_viz', executable='rtabmap_viz', output='screen',
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namespace=robot_ns,
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parameters=[rtabmap_parameters, shared_parameters],
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remappings=remappings),
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])
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