mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
8871f934b5
* Fixing turtlebot3 demos on Jazzy * Updated humble * Working turtlebot3 demos on humble and jazzy
112 lines
4.2 KiB
Python
112 lines
4.2 KiB
Python
# Example:
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#
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# Bringup turtlebot3:
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# $ export TURTLEBOT3_MODEL=waffle
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# $ export LDS_MODEL=LDS-01
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# $ ros2 launch turtlebot3_bringup robot.launch.py
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#
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# SLAM:
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# $ ros2 launch rtabmap_demos turtlebot3_rgbd.launch.py
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#
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# Navigation (install nav2_bringup package):
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# $ ros2 launch nav2_bringup navigation_launch.py
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# $ ros2 launch nav2_bringup rviz_launch.py
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#
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# Teleop:
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# $ ros2 run turtlebot3_teleop teleop_keyboard
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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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from launch.actions import OpaqueFunction
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def launch_setup(context, *args, **kwargs):
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use_sim_time = LaunchConfiguration('use_sim_time')
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localization = LaunchConfiguration('localization')
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max_ground_height = LaunchConfiguration('max_ground_height').perform(context)
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parameters={
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'frame_id':'base_footprint',
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'use_sim_time':use_sim_time,
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'subscribe_depth':True,
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'use_action_for_goal':True,
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'Reg/Force3DoF':'true',
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'Grid/RayTracing':'true', # Fill empty space
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'Grid/3D':'false', # Use 2D occupancy
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'Grid/RangeMax':'3',
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'Grid/NormalsSegmentation':'false', # Use passthrough filter to detect obstacles
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'Grid/MaxGroundHeight': str(max_ground_height), # All points above 5 cm are obstacles
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'Grid/MaxObstacleHeight':'0.4', # All points over 1 meter are ignored
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'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
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}
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remappings=[
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('rgb/image', '/camera/image_raw'),
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('rgb/camera_info', '/camera/camera_info'),
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('depth/image', '/camera/depth/image_raw')]
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return [
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# Nodes to launch
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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=[parameters],
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remappings=remappings,
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arguments=['-d']), # This will delete the previous database (~/.ros/rtabmap.db)
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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=[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=[parameters],
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remappings=remappings),
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# Obstacle detection with the camera for nav2 local costmap.
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# First, we need to convert depth image to a point cloud.
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# Second, we segment the floor from the obstacles.
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Node(
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package='rtabmap_util', executable='point_cloud_xyz', output='screen',
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parameters=[{'decimation': 2,
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'max_depth': 3.0,
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'voxel_size': 0.02}],
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remappings=[('depth/image', '/camera/depth/image_raw'),
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('depth/camera_info', '/camera/camera_info'),
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('cloud', '/camera/cloud')]),
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Node(
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package='rtabmap_util', executable='obstacles_detection', output='screen',
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parameters=[parameters],
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remappings=[('cloud', '/camera/cloud'),
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('obstacles', '/camera/obstacles'),
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('ground', '/camera/ground')]),
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]
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def generate_launch_description():
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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='true',
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description='Use simulation (Gazebo) clock if true'),
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DeclareLaunchArgument(
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'localization', default_value='false',
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description='Launch in localization mode.'),
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DeclareLaunchArgument(
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'max_ground_height', default_value='0.05',
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description='Maximum ground height, everything above is obstacle'),
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OpaqueFunction(function=launch_setup)
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]) |