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https://github.com/introlab/rtabmap_ros.git
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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
Usage
rtabmap.launch from ros1 has been ported to ROS2 as rtabmap.launch.py with same arguments. If you see ROS1 examples like this:
roslaunch zed_wrapper zed_no_tf.launch
roslaunch rtabmap_ros rtabmap.launch \
rtabmap_args:="--delete_db_on_start" \
rgb_topic:=/zed/zed_node/rgb/image_rect_color \
depth_topic:=/zed/zed_node/depth/depth_registered \
camera_info_topic:=/zed/zed_node/rgb/camera_info \
frame_id:=base_link \
approx_sync:=false \
wait_imu_to_init:=true \
imu_topic:=/zed_node/imu/data
The ROS2 equivalent is (using latest zed_wrapper launch file):
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
publish_tf:=false \
publish_map_tf:=false
ros2 launch rtabmap_launch rtabmap.launch.py \
rtabmap_args:="--delete_db_on_start" \
rgb_topic:=/zed/zed_node/rgb/image_rect_color \
depth_topic:=/zed/zed_node/depth/depth_registered \
camera_info_topic:=/zed/zed_node/rgb/camera_info \
frame_id:=zed_camera_link \
approx_sync:=false \
wait_imu_to_init:=true \
imu_topic:=/zed/zed_node/imu/data \
rviz:=true