feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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+# Requirements:
+#   A realsense D400 series
+#   Install realsense2 ros2 package (make sure you have this patch: https://github.com/IntelRealSense/realsense-ros/issues/2564#issuecomment-1336288238)
+# Example:
+#   $ ros2 launch rtabmap_examples realsense_d400.launch.py
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node, SetParameter
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    parameters=[{
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          'approx_sync':False}]
+
+    remappings=[
+          ('rgb/image', '/camera/color/image_raw'),
+          ('rgb/camera_info', '/camera/color/camera_info'),
+          ('depth/image', '/camera/aligned_depth_to_color/image_raw')]
+
+    return LaunchDescription([
+
+        # Make sure IR emitter is enabled
+        SetParameter(name='depth_module.emitter_enabled', value=1),
+
+        # Launch camera driver
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('realsense2_camera'), 'launch'),
+                '/rs_launch.py']),
+                launch_arguments={'align_depth.enable': 'true',
+                                  'rgb_camera.profile': '640x360x30'}.items(),
+        ),
+
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+    ])