mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-12 04:29:49 +08:00
matlabbe
82f0754bf7
* rtabmap_demos tests and docs * added bag testing * added rtabmap_examples launch tests * updating demo bag download paths * added netherdrone demo * Fixed rgb-only callback with lidar rejected. Updated lidar params * Added back OrbitOriented rviz view to ros2, with optional octomap wll clipping * fixing ci * lidar demo added intermediate_nodes option * added netherdrone as demo test * running rtabmap_demos tests on ci * added rtabmap_launch tests, fixed ground_truth_base_frame_id usage * ficing rolling * updating demo test harnest * densify golden trajectories to avoid tf missing * fixing tf steps * updated min icp ratio for netherdrone demo * fixing image_transport arg->params * export pose opt=0 * lets process all frames * updated netherdrone golden * fixing publishers queue size just for tests * added playdback demo doc * Adding more logs to debug ci * Fixing QOS for CI to reliable, added find-object demo test * name threads * fixing camera info expected transient on lyrical/rolling. Fixing find_object not appearing idle * 30 Hz polling backward comp * fixing test tf sim lock * fixing lyrical qos bag parsing * faster replay * lockstep * fixing clock deadlock * Added test on shutdown * updated netherdrone golden poses * Extended stereo outdoor test * updated shutdown test * updated test * multi-thread flaky test * adding backtrace when test fails * increased closure slack for netherdrone * g2o gauss newton on stereo * adjusted maximum optimizer iterations * updated default iterations * Added netherdrone in list of demos
23 lines
851 B
Python
23 lines
851 B
Python
# rtabmap alone, mapping from odometry only, for test_shutdown.py.
|
|
|
|
from launch import LaunchDescription
|
|
from launch.actions import DeclareLaunchArgument
|
|
from launch.substitutions import LaunchConfiguration
|
|
from launch_ros.actions import Node
|
|
|
|
|
|
def generate_launch_description():
|
|
return LaunchDescription([
|
|
DeclareLaunchArgument('database_path'),
|
|
DeclareLaunchArgument('working_directory'),
|
|
Node(
|
|
package='rtabmap_slam', executable='rtabmap', output='screen',
|
|
parameters=[{
|
|
'database_path': LaunchConfiguration('database_path'),
|
|
'Rtabmap/WorkingDirectory': LaunchConfiguration('working_directory'),
|
|
'subscribe_depth': False,
|
|
'subscribe_rgb': False,
|
|
'Rtabmap/DetectionRate': '0'}],
|
|
arguments=['-d']),
|
|
])
|