mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
103 lines
3.8 KiB
Python
103 lines
3.8 KiB
Python
# Requirements:
|
|
# Install Turtlebot3 packages
|
|
# Modify turtlebot3_waffle SDF:
|
|
# 1) Edit turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
|
|
# 2) Add
|
|
# <joint name="camera_rgb_optical_joint" type="fixed">
|
|
# <parent>camera_rgb_frame</parent>
|
|
# <child>camera_rgb_optical_frame</child>
|
|
# <pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
|
|
# <axis>
|
|
# <xyz>0 0 1</xyz>
|
|
# </axis>
|
|
# </joint>
|
|
# 3) Rename <link name="camera_rgb_frame"> to <link name="camera_rgb_optical_frame">
|
|
# 4) Add <link name="camera_rgb_frame"/>
|
|
# 5) Change <sensor name="camera" type="camera"> to <sensor name="camera" type="depth">
|
|
# 6) Change image width/height from 1920x1080 to 640x480
|
|
# 7) Note that we can increase min scan range from 0.12 to 0.2 to avoid having scans
|
|
# hitting the robot itself
|
|
# Example:
|
|
# $ export TURTLEBOT3_MODEL=waffle
|
|
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
|
|
#
|
|
# SLAM:
|
|
# $ ros2 launch rtabmap_ros turtlebot3_rgbd.launch.py
|
|
# OR
|
|
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info approx_sync:=true
|
|
#
|
|
# Navigation (install nav2_bringup package):
|
|
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
|
|
# $ ros2 launch nav2_bringup rviz_launch.py
|
|
#
|
|
# Teleop:
|
|
# $ ros2 run turtlebot3_teleop teleop_keyboard
|
|
|
|
from launch import LaunchDescription
|
|
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
|
|
from launch.substitutions import LaunchConfiguration
|
|
from launch.conditions import IfCondition, UnlessCondition
|
|
from launch_ros.actions import Node
|
|
|
|
def generate_launch_description():
|
|
|
|
use_sim_time = LaunchConfiguration('use_sim_time')
|
|
qos = LaunchConfiguration('qos')
|
|
localization = LaunchConfiguration('localization')
|
|
|
|
parameters={
|
|
'frame_id':'base_footprint',
|
|
'use_sim_time':use_sim_time,
|
|
'subscribe_depth':True,
|
|
'use_action_for_goal':True,
|
|
'qos_image':qos,
|
|
'qos_imu':qos,
|
|
'Reg/Force3DoF':'true',
|
|
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
|
|
}
|
|
|
|
remappings=[
|
|
('rgb/image', '/camera/image_raw'),
|
|
('rgb/camera_info', '/camera/camera_info'),
|
|
('depth/image', '/camera/depth/image_raw')]
|
|
|
|
return LaunchDescription([
|
|
|
|
# Launch arguments
|
|
DeclareLaunchArgument(
|
|
'use_sim_time', default_value='true',
|
|
description='Use simulation (Gazebo) clock if true'),
|
|
|
|
DeclareLaunchArgument(
|
|
'qos', default_value='2',
|
|
description='QoS used for input sensor topics'),
|
|
|
|
DeclareLaunchArgument(
|
|
'localization', default_value='false',
|
|
description='Launch in localization mode.'),
|
|
|
|
# Nodes to launch
|
|
|
|
# SLAM mode:
|
|
Node(
|
|
condition=UnlessCondition(localization),
|
|
package='rtabmap_ros', executable='rtabmap', output='screen',
|
|
parameters=[parameters],
|
|
remappings=remappings,
|
|
arguments=['-d']), # This will delete the previous database (~/.ros/rtabmap.db)
|
|
|
|
# Localization mode:
|
|
Node(
|
|
condition=IfCondition(localization),
|
|
package='rtabmap_ros', executable='rtabmap', output='screen',
|
|
parameters=[parameters,
|
|
{'Mem/IncrementalMemory':'False',
|
|
'Mem/InitWMWithAllNodes':'True'}],
|
|
remappings=remappings),
|
|
|
|
Node(
|
|
package='rtabmap_ros', executable='rtabmapviz', output='screen',
|
|
parameters=[parameters],
|
|
remappings=remappings),
|
|
])
|