mirror of
https://github.com/introlab/rtabmap_ros.git
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66 lines
3.5 KiB
XML
66 lines
3.5 KiB
XML
<launch>
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<!-- Example usage of RTAB-Map with VINS-Fusion support for realsense D435i -->
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<arg name="rtabmapviz" default="true"/>
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<arg name="rviz" default="false"/>
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<arg name="depth_mode" default="true"/>
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<include file="$(find realsense2_camera)/launch/rs_camera.launch">
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<arg name="align_depth" value="true"/>
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<arg name="unite_imu_method" value="linear_interpolation"/>
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</include>
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<node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_node">
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<param name="use_mag" value="false"/>
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<param name="publish_tf" value="false"/>
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<param name="world_frame" value="enu"/>
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<remap from="/imu/data_raw" to="/camera/imu"/>
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<remap from="/imu/data" to="/rtabmap/imu"/>
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</node>
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<node pkg="topic_tools" type="throttle" name="imu_throttle" args="messages /rtabmap/imu 100.0"/>
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<!-- RTAB-Map: depth mode -->
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<!-- We have to launch stereo_odometry externally from rtabmap.launch so that rtabmap can use RGB-D input -->
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<group ns="rtabmap">
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<node if="$(arg depth_mode)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" args="--Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml --Rtabmap/ImagesAlreadyRectified false" output="screen">
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<remap from="left/image_rect" to="/camera/infra1/image_rect_raw"/>
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<remap from="right/image_rect" to="/camera/infra2/image_rect_raw"/>
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<remap from="left/camera_info" to="/camera/infra1/camera_info"/>
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<remap from="right/camera_info" to="/camera/infra2/camera_info"/>
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<remap from="imu" to="/rtabmap/imu_throttle"/>
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<param name="frame_id" value="camera_link"/>
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<param name="wait_imu_to_init" value="true"/>
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</node>
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</group>
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<include if="$(arg depth_mode)" file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg name="rtabmap_args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3"/>
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<arg name="rgb_topic" value="/camera/color/image_raw"/>
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<arg name="depth_topic" value="/camera/aligned_depth_to_color/image_raw"/>
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<arg name="camera_info_topic" value="/camera/color/camera_info"/>
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<arg name="visual_odometry" value="false"/>
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<arg name="frame_id" value="camera_link"/>
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<arg name="imu_topic" value="/rtabmap/imu_throttle"/>
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<arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
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<arg name="rviz" value="$(arg rviz)"/>
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</include>
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<!-- RTAB-Map: Stereo mode -->
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<include unless="$(arg depth_mode)" file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg name="rtabmap_args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml"/>
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<arg name="odom_args" value="--Rtabmap/ImagesAlreadyRectified false"/>
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<arg name="left_image_topic" value="/camera/infra1/image_rect_raw"/>
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<arg name="right_image_topic" value="/camera/infra2/image_rect_raw"/>
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<arg name="left_camera_info_topic" value="/camera/infra1/camera_info"/>
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<arg name="right_camera_info_topic" value="/camera/infra2/camera_info"/>
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<arg name="stereo" value="true"/>
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<arg name="frame_id" value="camera_link"/>
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<arg name="imu_topic" value="/rtabmap/imu_throttle"/>
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<arg name="wait_imu_to_init" value="true"/>
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<arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
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<arg name="rviz" value="$(arg rviz)"/>
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</include>
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</launch>
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