mirror of
https://github.com/introlab/rtabmap_ros.git
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107 lines
4.3 KiB
Python
107 lines
4.3 KiB
Python
# Requirements:
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# A realsense D435i
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# Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
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# Example:
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# $ ros2 launch rtabmap_examples realsense_d435i_combined.launch.py
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#
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# Description: In this example, we feed visual odometry with IR stereo images
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# for better pose estimation while seding RGB-D data to slam for
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# a colored map.
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#
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch_ros.actions import Node, SetParameter
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from launch.actions import IncludeLaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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vo_parameters={
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'frame_id':'camera_link',
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'wait_imu_to_init':True}
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vo_remappings=[
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('imu', '/imu/data'),
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('left/image_rect', '/camera/infra1/image_rect_raw'),
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('left/camera_info', '/camera/infra1/camera_info'),
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('right/image_rect', '/camera/infra2/image_rect_raw'),
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('right/camera_info', '/camera/infra2/camera_info')]
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slam_parameters={
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'frame_id':'camera_link',
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'subscribe_depth':True,
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'subscribe_odom_info':True,
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'approx_sync':False}
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slam_remappings=[
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('imu', '/imu/data'),
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('rgb/image', '/camera/color/image_raw'),
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('rgb/camera_info', '/camera/color/camera_info'),
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('depth/image', '/camera/aligned_depth_to_color/image_raw')]
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return LaunchDescription([
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# Launch arguments
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DeclareLaunchArgument(
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'unite_imu_method', default_value='2',
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description='0-None, 1-copy, 2-linear_interpolation. Use unite_imu_method:="1" if imu topics stop being published.'),
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#Hack to disable IR emitter
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SetParameter(name='depth_module.emitter_enabled', value=0),
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DeclareLaunchArgument(
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'args', default_value='',
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description='Extra arguments set to rtabmap and odometry nodes.'),
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DeclareLaunchArgument(
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'odom_args', default_value='',
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description='Extra arguments just for odometry node. If the same argument is already set in \"args\", it will be overwritten by the one in \"odom_args\".'),
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# Launch camera driver
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('realsense2_camera'), 'launch'),
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'/rs_launch.py']),
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launch_arguments={'camera_namespace': '',
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'enable_gyro': 'true',
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'enable_accel': 'true',
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'unite_imu_method': LaunchConfiguration('unite_imu_method'),
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'enable_infra1': 'true',
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'enable_infra2': 'true',
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'align_depth.enable': 'true',
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'enable_sync': 'true',
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'rgb_camera.profile': '640x360x30'}.items(),
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),
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Node(
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package='rtabmap_odom', executable='stereo_odometry', output='screen',
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parameters=[vo_parameters],
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arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
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remappings=vo_remappings),
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Node(
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package='rtabmap_slam', executable='rtabmap', output='screen',
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parameters=[slam_parameters],
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remappings=slam_remappings,
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arguments=['-d', LaunchConfiguration("args")]),
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Node(
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package='rtabmap_viz', executable='rtabmap_viz', output='screen',
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parameters=[slam_parameters,
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{'odometry_node_name': "stereo_odometry"}],
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remappings=slam_remappings),
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# Compute quaternion of the IMU
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Node(
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package='imu_filter_madgwick', executable='imu_filter_madgwick_node', output='screen',
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parameters=[{'use_mag': False,
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'world_frame':'enu',
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'publish_tf':False}],
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remappings=[('imu/data_raw', '/camera/imu')]),
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])
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