mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
114 lines
4.5 KiB
Python
114 lines
4.5 KiB
Python
# Example with gazebo:
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# 1) Launch simulator (turtlebot4 and nav2):
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# $ ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=false nav2:=true rviz:=true
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#
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# 2) Launch SLAM:
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# $ ros2 launch rtabmap_demos turtlebot4_slam.launch.py use_sim_time:=true qos:=2
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# OR
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# $ ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_viz:=true subscribe_scan:=true rgbd_sync:=true depth_topic:=/oakd/rgb/preview/depth odom_sensor_sync:=true camera_info_topic:=/oakd/rgb/preview/camera_info rgb_topic:=/oakd/rgb/preview/image_raw visual_odometry:=false approx_sync:=true approx_rgbd_sync:=false odom_guess_frame_id:=odom icp_odometry:=true odom_topic:="icp_odom" map_topic:="/map" qos:=2 use_sim_time:=true odom_log_level:=warn rtabmap_args:="--delete_db_on_start --Reg/Strategy 1 --Reg/Force3DoF true --Mem/NotLinkedNodesKept false" use_action_for_goal:=true
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#
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# 3) Click on "Play" button on bottom-left of gazebo.
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#
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# 4) Click on double points ".." button on top-right next to power button to undock.
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#
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# 5) Teleop the robot:
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# $ ros2 run teleop_twist_keyboard teleop_twist_keyboard
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#
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# 6) Send goals with RVIZ's "Nav2 Goal" button in action bar:
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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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qos = LaunchConfiguration('qos')
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localization = LaunchConfiguration('localization')
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icp_parameters={
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'odom_frame_id':'icp_odom',
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'guess_frame_id':'odom',
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'qos':qos
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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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'qos_scan':qos,
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'qos_image':qos,
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'qos_imu':qos,
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# RTAB-Map's parameters should be strings:
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'Mem/NotLinkedNodesKept':'false'
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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',
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'Mem/NotLinkedNodesKept':'false'
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}
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remappings=[
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('odom', 'icp_odom'),
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('rgb/image', '/oakd/rgb/preview/image_raw'),
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('rgb/camera_info', '/oakd/rgb/preview/camera_info'),
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('depth/image', '/oakd/rgb/preview/depth')]
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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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'qos', default_value='0',
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description='QoS used for input sensor topics'),
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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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# Nodes to launch
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Node(
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package='rtabmap_sync', executable='rgbd_sync', output='screen',
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parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time, 'qos':qos}],
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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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parameters=[icp_parameters, shared_parameters],
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remappings=remappings,
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arguments=["--ros-args", "--log-level", 'icp_odometry:=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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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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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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parameters=[rtabmap_parameters, shared_parameters],
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remappings=remappings),
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])
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