feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
@@ -0,0 +1,334 @@
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Panels:
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- Class: rviz_common/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5147058963775635
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Tree Height: 505
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rtabmap_rviz_plugins/Info
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Enabled: true
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Name: Info
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rtabmap/info
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rtabmap_rviz_plugins/MapCloud
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Cloud decimation: 4
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Cloud from scan: false
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Cloud max depth (m): 4
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Cloud min depth (m): 0
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Cloud voxel size (m): 0.009999999776482582
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Color: 255; 255; 255
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Color Transformer: RGB8
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Download graph: false
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Download map: false
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Download namespace: rtabmap
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Enabled: true
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Filter ceiling (m): 0
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Filter floor (m): 0
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: MapCloud
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Node filtering angle (degrees): 30
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Node filtering radius (m): 0
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Position Transformer: XYZ
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rtabmap/mapData
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Class: rtabmap_rviz_plugins/MapGraph
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Enabled: true
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Global loop closure: 255; 0; 0
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Landmark: 0; 128; 0
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Local loop closure: 255; 255; 0
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Merged neighbor: 255; 170; 0
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Name: MapGraph
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Neighbor: 0; 0; 255
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rtabmap/mapGraph
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User: 255; 0; 0
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Value: true
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Virtual: 255; 0; 255
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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map:
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Value: true
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oak-d-base-frame:
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Value: true
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oak-d_frame:
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Value: true
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oak_imu_frame:
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Value: true
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oak_left_camera_frame:
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Value: true
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oak_left_camera_optical_frame:
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Value: true
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oak_model_origin:
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Value: true
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oak_rgb_camera_frame:
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Value: true
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oak_rgb_camera_optical_frame:
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Value: true
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oak_right_camera_frame:
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Value: true
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oak_right_camera_optical_frame:
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Value: true
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odom:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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map:
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odom:
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oak-d-base-frame:
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oak-d_frame:
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oak_imu_frame:
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{}
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oak_left_camera_frame:
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oak_left_camera_optical_frame:
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{}
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oak_model_origin:
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{}
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oak_rgb_camera_frame:
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oak_rgb_camera_optical_frame:
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{}
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oak_right_camera_frame:
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oak_right_camera_optical_frame:
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{}
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Update Interval: 0
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz_default_plugins/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Map
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rtabmap/map
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Update Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rtabmap/map_updates
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: Odom Local Map
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rtabmap/odom_local_map
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: Camera Cloud
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /voxel_cloud
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 1.935564398765564
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0.024472296237945557
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Y: 0.1059575080871582
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Z: 0.36562198400497437
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.14039947092533112
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Target Frame: map
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Value: Orbit (rviz_default_plugins)
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Yaw: 3.175398111343384
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 734
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000015600000284fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000284000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000284fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000284000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003db0000028400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1335
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X: 481
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Y: 199
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@@ -0,0 +1,519 @@
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#
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# To avoid log buffering:
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# "stdbuf -o L ros2 launch rtabmap_launch rtabmap.launch.py ..."
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#
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import os
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from launch import LaunchDescription, Substitution, LaunchContext
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from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, LogInfo, OpaqueFunction
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from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PythonExpression
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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_ros.actions import SetParameter
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from typing import Text
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from ament_index_python.packages import get_package_share_directory
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#Based on https://answers.ros.org/question/363763/ros2-how-best-to-conditionally-include-a-prefix-in-a-launchpy-file/
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class ConditionalText(Substitution):
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def __init__(self, text_if, text_else, condition):
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self.text_if = text_if
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self.text_else = text_else
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self.condition = condition
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def perform(self, context: 'LaunchContext') -> Text:
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if self.condition == True or self.condition == 'true' or self.condition == 'True':
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return self.text_if
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else:
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return self.text_else
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class ConditionalBool(Substitution):
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def __init__(self, text_if, text_else, condition):
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self.text_if = text_if
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self.text_else = text_else
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self.condition = condition
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def perform(self, context: 'LaunchContext') -> bool:
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if self.condition:
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return self.text_if
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else:
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return self.text_else
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def launch_setup(context, *args, **kwargs):
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return [
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DeclareLaunchArgument('depth', default_value=ConditionalText('false', 'true', IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true'"]))._predicate_func(context)), description=''),
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DeclareLaunchArgument('subscribe_rgb', default_value=LaunchConfiguration('depth'), description=''),
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DeclareLaunchArgument('args', default_value=LaunchConfiguration('rtabmap_args'), description='Can be used to pass RTAB-Map\'s parameters or other flags like --udebug and --delete_db_on_start/-d'),
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DeclareLaunchArgument('sync_queue_size', default_value=LaunchConfiguration('queue_size'), description='Queue size of topic synchronizers.'),
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DeclareLaunchArgument('qos_image', default_value=LaunchConfiguration('qos'), description='Specific QoS used for image input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_camera_info', default_value=LaunchConfiguration('qos'), description='Specific QoS used for camera info input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_scan', default_value=LaunchConfiguration('qos'), description='Specific QoS used for scan input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_odom', default_value=LaunchConfiguration('qos'), description='Specific QoS used for odometry input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_user_data', default_value=LaunchConfiguration('qos'), description='Specific QoS used for user input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_imu', default_value=LaunchConfiguration('qos'), description='Specific QoS used for imu input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('qos_gps', default_value=LaunchConfiguration('qos'), description='Specific QoS used for gps input data: 0=system default, 1=Reliable, 2=Best Effort.'),
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DeclareLaunchArgument('odom_log_level', default_value=LaunchConfiguration('log_level'), description='Specific ROS logger level for odometry node.'),
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#These arguments should not be modified directly, see referred topics without "_relay" suffix above
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DeclareLaunchArgument('rgb_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('rgb_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('rgb_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
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DeclareLaunchArgument('depth_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('depth_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('depth_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
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DeclareLaunchArgument('left_image_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('left_image_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('left_image_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
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DeclareLaunchArgument('right_image_topic_relay', default_value=ConditionalText(''.join([LaunchConfiguration('right_image_topic').perform(context), "_relay"]), ''.join(LaunchConfiguration('right_image_topic').perform(context)), LaunchConfiguration('compressed').perform(context)), description='Should not be modified manually!'),
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||||
DeclareLaunchArgument('rgbd_topic_relay', default_value=ConditionalText(''.join(LaunchConfiguration('rgbd_topic').perform(context)), ''.join([LaunchConfiguration('rgbd_topic').perform(context), "_relay"]), LaunchConfiguration('rgbd_sync').perform(context)), description='Should not be modified manually!'),
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||||
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||||
SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
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# 'use_sim_time' will be set on all nodes following the line above
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# Relays RGB-Depth
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Node(
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package='image_transport', executable='republish', name='republish_rgb',
|
||||
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' != 'true' and ('", LaunchConfiguration('subscribe_rgbd'), "' != 'true' or '", LaunchConfiguration('rgbd_sync'),"'=='true') and '", LaunchConfiguration('compressed'), "' == 'true'"])),
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||||
remappings=[
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||||
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('rgb_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
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||||
('out', LaunchConfiguration('rgb_topic_relay'))],
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||||
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
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||||
namespace=LaunchConfiguration('namespace')),
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Node(
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||||
package='image_transport', executable='republish', name='republish_depth',
|
||||
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' != 'true' and ('", LaunchConfiguration('subscribe_rgbd'), "' != 'true' or '", LaunchConfiguration('rgbd_sync'),"'=='true') and '", LaunchConfiguration('compressed'), "' == 'true'"])),
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||||
remappings=[
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||||
(['in/', LaunchConfiguration('depth_image_transport')], [LaunchConfiguration('depth_topic'), '/', LaunchConfiguration('depth_image_transport')]),
|
||||
('out', LaunchConfiguration('depth_topic_relay'))],
|
||||
arguments=[LaunchConfiguration('depth_image_transport'), 'raw'],
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
Node(
|
||||
package='rtabmap_sync', executable='rgbd_sync', name="rgbd_sync", output="screen",
|
||||
emulate_tty=True,
|
||||
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' != 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
|
||||
parameters=[{
|
||||
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
|
||||
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
|
||||
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
|
||||
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
|
||||
"qos": LaunchConfiguration('qos_image'),
|
||||
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
|
||||
"depth_scale": LaunchConfiguration('depth_scale')}],
|
||||
remappings=[
|
||||
("rgb/image", LaunchConfiguration('rgb_topic_relay')),
|
||||
("depth/image", LaunchConfiguration('depth_topic_relay')),
|
||||
("rgb/camera_info", LaunchConfiguration('camera_info_topic')),
|
||||
("rgbd_image", LaunchConfiguration('rgbd_topic_relay'))],
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
|
||||
# Relays Stereo
|
||||
Node(
|
||||
package='image_transport', executable='republish', name='republish_left',
|
||||
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and ('", LaunchConfiguration('subscribe_rgbd'), "' != 'true' or '", LaunchConfiguration('rgbd_sync'),"'=='true') and '", LaunchConfiguration('compressed'), "' == 'true'"])),
|
||||
remappings=[
|
||||
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('left_image_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
|
||||
('out', LaunchConfiguration('left_image_topic_relay'))],
|
||||
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
Node(
|
||||
package='image_transport', executable='republish', name='republish_right',
|
||||
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and ('", LaunchConfiguration('subscribe_rgbd'), "' != 'true' or '", LaunchConfiguration('rgbd_sync'),"'=='true') and '", LaunchConfiguration('compressed'), "' == 'true'"])),
|
||||
remappings=[
|
||||
(['in/', LaunchConfiguration('rgb_image_transport')], [LaunchConfiguration('right_image_topic'), '/', LaunchConfiguration('rgb_image_transport')]),
|
||||
('out', LaunchConfiguration('right_image_topic_relay'))],
|
||||
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
Node(
|
||||
package='rtabmap_sync', executable='stereo_sync', name="stereo_sync", output="screen",
|
||||
emulate_tty=True,
|
||||
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
|
||||
parameters=[{
|
||||
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
|
||||
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
|
||||
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
|
||||
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
|
||||
"qos": LaunchConfiguration('qos_image'),
|
||||
"qos_camera_info": LaunchConfiguration('qos_camera_info')}],
|
||||
remappings=[
|
||||
("left/image_rect", LaunchConfiguration('left_image_topic_relay')),
|
||||
("right/image_rect", LaunchConfiguration('right_image_topic_relay')),
|
||||
("left/camera_info", LaunchConfiguration('left_camera_info_topic')),
|
||||
("right/camera_info", LaunchConfiguration('right_camera_info_topic')),
|
||||
("rgbd_image", LaunchConfiguration('rgbd_topic_relay'))],
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
|
||||
# Relay rgbd_image
|
||||
Node(
|
||||
package='rtabmap_util', executable='rgbd_relay', name="rgbd_relay", output="screen",
|
||||
emulate_tty=True,
|
||||
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('rgbd_sync'), "' != 'true' and '", LaunchConfiguration('subscribe_rgbd'), "' == 'true' and '", LaunchConfiguration('compressed'), "' != 'true'"])),
|
||||
parameters=[{
|
||||
"qos": LaunchConfiguration('qos_image')}],
|
||||
remappings=[
|
||||
("rgbd_image", LaunchConfiguration('rgbd_topic')),
|
||||
("rgbd_image_relay", LaunchConfiguration('rgbd_topic_relay'))],
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
Node(
|
||||
package='rtabmap_util', executable='rgbd_relay', name="rgbd_relay_uncompress", output="screen",
|
||||
emulate_tty=True,
|
||||
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('rgbd_sync'), "' != 'true' and '", LaunchConfiguration('subscribe_rgbd'), "' == 'true' and '", LaunchConfiguration('compressed'), "' == 'true'"])),
|
||||
parameters=[{
|
||||
"uncompress": True,
|
||||
"qos": LaunchConfiguration('qos_image')}],
|
||||
remappings=[
|
||||
("rgbd_image", [LaunchConfiguration('rgbd_topic'), "/compressed"]),
|
||||
("rgbd_image_relay", LaunchConfiguration('rgbd_topic_relay'))],
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
|
||||
# RGB-D odometry
|
||||
Node(
|
||||
package='rtabmap_odom', executable='rgbd_odometry', name="rgbd_odometry", output="screen",
|
||||
emulate_tty=True,
|
||||
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' != 'true' and '", LaunchConfiguration('visual_odometry'), "' == 'true' and '", LaunchConfiguration('stereo'), "' != 'true'"])),
|
||||
parameters=[{
|
||||
"frame_id": LaunchConfiguration('frame_id'),
|
||||
"odom_frame_id": LaunchConfiguration('vo_frame_id'),
|
||||
"publish_tf": LaunchConfiguration('publish_tf_odom'),
|
||||
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
|
||||
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
|
||||
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
|
||||
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
|
||||
"always_check_imu_tf": LaunchConfiguration('always_check_imu_tf'),
|
||||
"approx_sync": LaunchConfiguration('approx_sync'),
|
||||
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
|
||||
"config_path": LaunchConfiguration('cfg').perform(context),
|
||||
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
|
||||
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
|
||||
"qos": LaunchConfiguration('qos_image'),
|
||||
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
|
||||
"qos_imu": LaunchConfiguration('qos_imu'),
|
||||
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
|
||||
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
|
||||
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
|
||||
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
|
||||
remappings=[
|
||||
("rgb/image", LaunchConfiguration('rgb_topic_relay')),
|
||||
("depth/image", LaunchConfiguration('depth_topic_relay')),
|
||||
("rgb/camera_info", LaunchConfiguration('camera_info_topic')),
|
||||
("rgbd_image", LaunchConfiguration('rgbd_topic_relay')),
|
||||
("odom", LaunchConfiguration('odom_topic')),
|
||||
("imu", LaunchConfiguration('imu_topic'))],
|
||||
arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args"), "--ros-args", "--log-level", [LaunchConfiguration('namespace'), '.rgbd_odometry:=', LaunchConfiguration('odom_log_level')], "--log-level", ['rgbd_odometry:=', LaunchConfiguration('odom_log_level')]],
|
||||
prefix=LaunchConfiguration('launch_prefix'),
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
|
||||
# Stereo odometry
|
||||
Node(
|
||||
package='rtabmap_odom', executable='stereo_odometry', name="stereo_odometry", output="screen",
|
||||
emulate_tty=True,
|
||||
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' != 'true' and '", LaunchConfiguration('visual_odometry'), "' == 'true' and '", LaunchConfiguration('stereo'), "' == 'true'"])),
|
||||
parameters=[{
|
||||
"frame_id": LaunchConfiguration('frame_id'),
|
||||
"odom_frame_id": LaunchConfiguration('vo_frame_id'),
|
||||
"publish_tf": LaunchConfiguration('publish_tf_odom'),
|
||||
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
|
||||
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
|
||||
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
|
||||
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
|
||||
"always_check_imu_tf": LaunchConfiguration('always_check_imu_tf'),
|
||||
"approx_sync": LaunchConfiguration('approx_sync'),
|
||||
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
|
||||
"config_path": LaunchConfiguration('cfg').perform(context),
|
||||
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
|
||||
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
|
||||
"qos": LaunchConfiguration('qos_image'),
|
||||
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
|
||||
"qos_imu": LaunchConfiguration('qos_imu'),
|
||||
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
|
||||
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
|
||||
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
|
||||
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
|
||||
remappings=[
|
||||
("left/image_rect", LaunchConfiguration('left_image_topic_relay')),
|
||||
("right/image_rect", LaunchConfiguration('right_image_topic_relay')),
|
||||
("left/camera_info", LaunchConfiguration('left_camera_info_topic')),
|
||||
("right/camera_info", LaunchConfiguration('right_camera_info_topic')),
|
||||
("rgbd_image", LaunchConfiguration('rgbd_topic_relay')),
|
||||
("odom", LaunchConfiguration('odom_topic')),
|
||||
("imu", LaunchConfiguration('imu_topic'))],
|
||||
arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args"), "--ros-args", "--log-level", [LaunchConfiguration('namespace'), '.stereo_odometry:=', LaunchConfiguration('odom_log_level')], "--log-level", ['stereo_odometry:=', LaunchConfiguration('odom_log_level')]],
|
||||
prefix=LaunchConfiguration('launch_prefix'),
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
|
||||
# ICP odometry
|
||||
Node(
|
||||
package='rtabmap_odom', executable='icp_odometry', name="icp_odometry", output="screen",
|
||||
emulate_tty=True,
|
||||
condition=IfCondition(LaunchConfiguration('icp_odometry')),
|
||||
parameters=[{
|
||||
"frame_id": LaunchConfiguration('frame_id'),
|
||||
"odom_frame_id": LaunchConfiguration('vo_frame_id'),
|
||||
"publish_tf": LaunchConfiguration('publish_tf_odom'),
|
||||
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
|
||||
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
|
||||
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
|
||||
"wait_imu_to_init": LaunchConfiguration('wait_imu_to_init'),
|
||||
"always_check_imu_tf": LaunchConfiguration('always_check_imu_tf'),
|
||||
"approx_sync": LaunchConfiguration('approx_sync'),
|
||||
"config_path": LaunchConfiguration('cfg').perform(context),
|
||||
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
|
||||
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
|
||||
"qos": LaunchConfiguration('qos_image'),
|
||||
"qos_imu": LaunchConfiguration('qos_imu'),
|
||||
"guess_frame_id": LaunchConfiguration('odom_guess_frame_id').perform(context),
|
||||
"guess_min_translation": LaunchConfiguration('odom_guess_min_translation'),
|
||||
"guess_min_rotation": LaunchConfiguration('odom_guess_min_rotation')}],
|
||||
remappings=[
|
||||
("scan", LaunchConfiguration('scan_topic')),
|
||||
("scan_cloud", LaunchConfiguration('scan_cloud_topic')),
|
||||
("odom", LaunchConfiguration('odom_topic')),
|
||||
("imu", LaunchConfiguration('imu_topic'))],
|
||||
arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args"), "--ros-args", "--log-level", [LaunchConfiguration('namespace'), '.icp_odometry:=', LaunchConfiguration('odom_log_level')], "--log-level", ['icp_odometry:=', LaunchConfiguration('odom_log_level')]],
|
||||
prefix=LaunchConfiguration('launch_prefix'),
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
|
||||
Node(
|
||||
package='rtabmap_slam', executable='rtabmap', name="rtabmap", output="screen",
|
||||
emulate_tty=True,
|
||||
parameters=[{
|
||||
"subscribe_depth": LaunchConfiguration('depth'),
|
||||
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
|
||||
"subscribe_rgb": LaunchConfiguration('subscribe_rgb'),
|
||||
"subscribe_stereo": LaunchConfiguration('stereo'),
|
||||
"subscribe_scan": LaunchConfiguration('subscribe_scan'),
|
||||
"subscribe_scan_cloud": LaunchConfiguration('subscribe_scan_cloud'),
|
||||
"subscribe_user_data": LaunchConfiguration('subscribe_user_data'),
|
||||
"subscribe_odom_info": ConditionalBool(True, False, IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' == 'true' or '", LaunchConfiguration('visual_odometry'), "' == 'true'"]))._predicate_func(context)).perform(context),
|
||||
"frame_id": LaunchConfiguration('frame_id'),
|
||||
"map_frame_id": LaunchConfiguration('map_frame_id'),
|
||||
"odom_frame_id": LaunchConfiguration('odom_frame_id').perform(context),
|
||||
"publish_tf": LaunchConfiguration('publish_tf_map'),
|
||||
"initial_pose": LaunchConfiguration('initial_pose'),
|
||||
"use_action_for_goal": LaunchConfiguration('use_action_for_goal'),
|
||||
"ground_truth_frame_id": LaunchConfiguration('ground_truth_frame_id').perform(context),
|
||||
"ground_truth_base_frame_id": LaunchConfiguration('ground_truth_base_frame_id').perform(context),
|
||||
"odom_tf_angular_variance": LaunchConfiguration('odom_tf_angular_variance'),
|
||||
"odom_tf_linear_variance": LaunchConfiguration('odom_tf_linear_variance'),
|
||||
"odom_sensor_sync": LaunchConfiguration('odom_sensor_sync'),
|
||||
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
|
||||
"database_path": LaunchConfiguration('database_path'),
|
||||
"approx_sync": LaunchConfiguration('approx_sync'),
|
||||
"config_path": LaunchConfiguration('cfg').perform(context),
|
||||
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
|
||||
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
|
||||
"qos_image": LaunchConfiguration('qos_image'),
|
||||
"qos_scan": LaunchConfiguration('qos_scan'),
|
||||
"qos_odom": LaunchConfiguration('qos_odom'),
|
||||
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
|
||||
"qos_imu": LaunchConfiguration('qos_imu'),
|
||||
"qos_gps": LaunchConfiguration('qos_gps'),
|
||||
"qos_user_data": LaunchConfiguration('qos_user_data'),
|
||||
"scan_normal_k": LaunchConfiguration('scan_normal_k'),
|
||||
"landmark_linear_variance": LaunchConfiguration('tag_linear_variance'),
|
||||
"landmark_angular_variance": LaunchConfiguration('tag_angular_variance'),
|
||||
"Mem/IncrementalMemory": ConditionalText("true", "false", IfCondition(PythonExpression(["'", LaunchConfiguration('localization'), "' != 'true'"]))._predicate_func(context)).perform(context),
|
||||
"Mem/InitWMWithAllNodes": ConditionalText("true", "false", IfCondition(PythonExpression(["'", LaunchConfiguration('localization'), "' == 'true'"]))._predicate_func(context)).perform(context)
|
||||
}],
|
||||
remappings=[
|
||||
("map", LaunchConfiguration('map_topic')),
|
||||
("rgb/image", LaunchConfiguration('rgb_topic_relay')),
|
||||
("depth/image", LaunchConfiguration('depth_topic_relay')),
|
||||
("rgb/camera_info", LaunchConfiguration('camera_info_topic')),
|
||||
("rgbd_image", LaunchConfiguration('rgbd_topic_relay')),
|
||||
("left/image_rect", LaunchConfiguration('left_image_topic_relay')),
|
||||
("right/image_rect", LaunchConfiguration('right_image_topic_relay')),
|
||||
("left/camera_info", LaunchConfiguration('left_camera_info_topic')),
|
||||
("right/camera_info", LaunchConfiguration('right_camera_info_topic')),
|
||||
("scan", LaunchConfiguration('scan_topic')),
|
||||
("scan_cloud", LaunchConfiguration('scan_cloud_topic')),
|
||||
("user_data", LaunchConfiguration('user_data_topic')),
|
||||
("user_data_async", LaunchConfiguration('user_data_async_topic')),
|
||||
("gps/fix", LaunchConfiguration('gps_topic')),
|
||||
("tag_detections", LaunchConfiguration('tag_topic')),
|
||||
("fiducial_transforms", LaunchConfiguration('fiducial_topic')),
|
||||
("odom", LaunchConfiguration('odom_topic')),
|
||||
("imu", LaunchConfiguration('imu_topic')),
|
||||
("goal_out", LaunchConfiguration('output_goal_topic'))],
|
||||
arguments=[LaunchConfiguration("args"), "--ros-args", "--log-level", [LaunchConfiguration('namespace'), '.rtabmap:=', LaunchConfiguration('log_level')], "--log-level", ['rtabmap:=', LaunchConfiguration('log_level')]],
|
||||
prefix=LaunchConfiguration('launch_prefix'),
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
|
||||
Node(
|
||||
package='rtabmap_viz', executable='rtabmap_viz', name="rtabmap_viz", output='screen',
|
||||
emulate_tty=True,
|
||||
parameters=[{
|
||||
"subscribe_depth": LaunchConfiguration('depth'),
|
||||
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
|
||||
"subscribe_rgb": LaunchConfiguration('subscribe_rgb'),
|
||||
"subscribe_stereo": LaunchConfiguration('stereo'),
|
||||
"subscribe_scan": LaunchConfiguration('subscribe_scan'),
|
||||
"subscribe_scan_cloud": LaunchConfiguration('subscribe_scan_cloud'),
|
||||
"subscribe_user_data": LaunchConfiguration('subscribe_user_data'),
|
||||
"subscribe_odom_info": ConditionalBool(True, False, IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' == 'true' or '", LaunchConfiguration('visual_odometry'), "' == 'true'"]))._predicate_func(context)).perform(context),
|
||||
"frame_id": LaunchConfiguration('frame_id'),
|
||||
"odom_frame_id": LaunchConfiguration('odom_frame_id').perform(context),
|
||||
"wait_for_transform": LaunchConfiguration('wait_for_transform'),
|
||||
"approx_sync": LaunchConfiguration('approx_sync'),
|
||||
"topic_queue_size": LaunchConfiguration('topic_queue_size'),
|
||||
"sync_queue_size": LaunchConfiguration('sync_queue_size'),
|
||||
"qos_image": LaunchConfiguration('qos_image'),
|
||||
"qos_scan": LaunchConfiguration('qos_scan'),
|
||||
"qos_odom": LaunchConfiguration('qos_odom'),
|
||||
"qos_camera_info": LaunchConfiguration('qos_camera_info'),
|
||||
"qos_user_data": LaunchConfiguration('qos_user_data')
|
||||
}],
|
||||
remappings=[
|
||||
("rgb/image", LaunchConfiguration('rgb_topic_relay')),
|
||||
("depth/image", LaunchConfiguration('depth_topic_relay')),
|
||||
("rgb/camera_info", LaunchConfiguration('camera_info_topic')),
|
||||
("rgbd_image", LaunchConfiguration('rgbd_topic_relay')),
|
||||
("left/image_rect", LaunchConfiguration('left_image_topic_relay')),
|
||||
("right/image_rect", LaunchConfiguration('right_image_topic_relay')),
|
||||
("left/camera_info", LaunchConfiguration('left_camera_info_topic')),
|
||||
("right/camera_info", LaunchConfiguration('right_camera_info_topic')),
|
||||
("scan", LaunchConfiguration('scan_topic')),
|
||||
("scan_cloud", LaunchConfiguration('scan_cloud_topic')),
|
||||
("odom", LaunchConfiguration('odom_topic'))],
|
||||
condition=IfCondition(LaunchConfiguration("rtabmap_viz")),
|
||||
arguments=[LaunchConfiguration("gui_cfg"), "--ros-args", "--log-level", [LaunchConfiguration('namespace'), '.rtabmap_viz:=', LaunchConfiguration('log_level')], "--log-level", ['rtabmap_viz:=', LaunchConfiguration('log_level')]],
|
||||
prefix=LaunchConfiguration('launch_prefix'),
|
||||
namespace=LaunchConfiguration('namespace')),
|
||||
Node(
|
||||
package='rviz2', executable='rviz2', name="rviz2", output='screen',
|
||||
condition=IfCondition(LaunchConfiguration("rviz")),
|
||||
arguments=[["-d"], [LaunchConfiguration("rviz_cfg")]]),
|
||||
Node(
|
||||
package='rtabmap_util', executable='point_cloud_xyzrgb', name="point_cloud_xyzrgb", output='screen',
|
||||
emulate_tty=True,
|
||||
condition=IfCondition(LaunchConfiguration("rviz")),
|
||||
parameters=[{
|
||||
"decimation": 4,
|
||||
"voxel_size": 0.0,
|
||||
"approx_sync": LaunchConfiguration('approx_sync'),
|
||||
"approx_sync_max_interval": LaunchConfiguration('approx_sync_max_interval'),
|
||||
"qos": LaunchConfiguration('qos_image'),
|
||||
"qos_camera_info": LaunchConfiguration('qos_camera_info')
|
||||
}],
|
||||
remappings=[
|
||||
('left/image', LaunchConfiguration('left_image_topic_relay')),
|
||||
('right/image', LaunchConfiguration('right_image_topic_relay')),
|
||||
('left/camera_info', LaunchConfiguration('left_camera_info_topic')),
|
||||
('right/camera_info', LaunchConfiguration('right_camera_info_topic')),
|
||||
('rgb/image', LaunchConfiguration('rgb_topic_relay')),
|
||||
('depth/image', LaunchConfiguration('depth_topic_relay')),
|
||||
('rgb/camera_info', LaunchConfiguration('camera_info_topic')),
|
||||
('rgbd_image', LaunchConfiguration('rgbd_topic_relay')),
|
||||
('cloud', 'voxel_cloud')]),
|
||||
]
|
||||
|
||||
def generate_launch_description():
|
||||
|
||||
config_rviz = os.path.join(
|
||||
get_package_share_directory('rtabmap_launch'), 'launch', 'config', 'rgbd.rviz'
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
|
||||
# Arguments
|
||||
DeclareLaunchArgument('stereo', default_value='false', description='Use stereo input instead of RGB-D.'),
|
||||
|
||||
DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
|
||||
DeclareLaunchArgument('rtabmap_viz', default_value='true', description='Launch RTAB-Map UI (optional).'),
|
||||
DeclareLaunchArgument('rviz', default_value='false', description='Launch RVIZ (optional).'),
|
||||
|
||||
DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'),
|
||||
|
||||
DeclareLaunchArgument('log_level', default_value='info', description="ROS logging level (debug, info, warn, error). For RTAB-Map\'s logger level, use \"args\" argument."),
|
||||
|
||||
# Config files
|
||||
DeclareLaunchArgument('cfg', default_value='', description='To change RTAB-Map\'s parameters, set the path of config file (*.ini) generated by the standalone app.'),
|
||||
DeclareLaunchArgument('gui_cfg', default_value='~/.ros/rtabmap_gui.ini', description='Configuration path of rtabmap_viz.'),
|
||||
DeclareLaunchArgument('rviz_cfg', default_value=config_rviz, description='Configuration path of rviz2.'),
|
||||
|
||||
DeclareLaunchArgument('frame_id', default_value='base_link', description='Fixed frame id of the robot (base frame), you may set "base_link" or "base_footprint" if they are published. For camera-only config, this could be "camera_link".'),
|
||||
DeclareLaunchArgument('odom_frame_id', default_value='', description='If set, TF is used to get odometry instead of the topic.'),
|
||||
DeclareLaunchArgument('map_frame_id', default_value='map', description='Output map frame id (TF).'),
|
||||
DeclareLaunchArgument('map_topic', default_value='map', description='Map topic name.'),
|
||||
DeclareLaunchArgument('publish_tf_map', default_value='true', description='Publish TF between map and odomerty.'),
|
||||
DeclareLaunchArgument('namespace', default_value='rtabmap', description=''),
|
||||
DeclareLaunchArgument('database_path', default_value='~/.ros/rtabmap.db', description='Where is the map saved/loaded.'),
|
||||
DeclareLaunchArgument('topic_queue_size', default_value='10', description='Queue size of individual topic subscribers.'),
|
||||
DeclareLaunchArgument('queue_size', default_value='10', description='Backward compatibility, use "sync_queue_size" instead.'),
|
||||
DeclareLaunchArgument('qos', default_value='0', description='General QoS used for sensor input data: 0=system default, 1=Reliable, 2=Best Effort.'),
|
||||
DeclareLaunchArgument('wait_for_transform', default_value='0.2', description=''),
|
||||
DeclareLaunchArgument('rtabmap_args', default_value='', description='Backward compatibility, use "args" instead.'),
|
||||
DeclareLaunchArgument('launch_prefix', default_value='', description='For debugging purpose, it fills prefix tag of the nodes, e.g., "xterm -e gdb -ex run --args"'),
|
||||
DeclareLaunchArgument('output', default_value='screen', description='Control node output (screen or log).'),
|
||||
DeclareLaunchArgument('initial_pose', default_value='', description='Set an initial pose (only in localization mode). Format: "x y z roll pitch yaw" or "x y z qx qy qz qw". Default: see "RGBD/StartAtOrigin" doc'),
|
||||
|
||||
DeclareLaunchArgument('output_goal_topic', default_value='/goal_pose', description='Output goal topic (can be connected to nav2).'),
|
||||
DeclareLaunchArgument('use_action_for_goal', default_value='false', description='Connect to nav2\'s navigate_to_pose action server instead of publishing the output goal topic.'),
|
||||
|
||||
DeclareLaunchArgument('ground_truth_frame_id', default_value='', description='e.g., "world"'),
|
||||
DeclareLaunchArgument('ground_truth_base_frame_id', default_value='', description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree)'),
|
||||
|
||||
DeclareLaunchArgument('approx_sync', default_value='false', description='If timestamps of the input topics should be synchronized using approximate or exact time policy.'),
|
||||
DeclareLaunchArgument('approx_sync_max_interval', default_value='0.0', description='(sec) 0 means infinite interval duration (used with approx_sync=true)'),
|
||||
|
||||
# RGB-D related topics
|
||||
DeclareLaunchArgument('rgb_topic', default_value='/camera/rgb/image_rect_color', description=''),
|
||||
DeclareLaunchArgument('depth_topic', default_value='/camera/depth_registered/image_raw', description=''),
|
||||
DeclareLaunchArgument('camera_info_topic', default_value='/camera/rgb/camera_info', description=''),
|
||||
|
||||
# Stereo related topics
|
||||
DeclareLaunchArgument('stereo_namespace', default_value='/stereo_camera', description=''),
|
||||
DeclareLaunchArgument('left_image_topic', default_value=[LaunchConfiguration('stereo_namespace'), '/left/image_rect_color'], description=''),
|
||||
DeclareLaunchArgument('right_image_topic', default_value=[LaunchConfiguration('stereo_namespace'), '/right/image_rect'], description='Use grayscale image for efficiency'),
|
||||
DeclareLaunchArgument('left_camera_info_topic', default_value=[LaunchConfiguration('stereo_namespace'), '/left/camera_info'], description=''),
|
||||
DeclareLaunchArgument('right_camera_info_topic', default_value=[LaunchConfiguration('stereo_namespace'), '/right/camera_info'], description=''),
|
||||
|
||||
# Use Pre-sync RGBDImage format
|
||||
DeclareLaunchArgument('rgbd_sync', default_value='false', description='Pre-sync rgb_topic, depth_topic, camera_info_topic.'),
|
||||
DeclareLaunchArgument('approx_rgbd_sync', default_value='true', description='false=exact synchronization.'),
|
||||
DeclareLaunchArgument('subscribe_rgbd', default_value=LaunchConfiguration('rgbd_sync'), description='Already synchronized RGB-D related topic, e.g., with rtabmap_sync/rgbd_sync nodelet.'),
|
||||
DeclareLaunchArgument('rgbd_topic', default_value='rgbd_image', description=''),
|
||||
DeclareLaunchArgument('depth_scale', default_value='1.0', description=''),
|
||||
|
||||
# Image topic compression
|
||||
DeclareLaunchArgument('compressed', default_value='false', description='If you want to subscribe to compressed image topics'),
|
||||
DeclareLaunchArgument('rgb_image_transport', default_value='compressed', description='Common types: compressed, theora (see "rosrun image_transport list_transports")'),
|
||||
DeclareLaunchArgument('depth_image_transport', default_value='compressedDepth', description='Depth compatible types: compressedDepth (see "rosrun image_transport list_transports")'),
|
||||
|
||||
# LiDAR
|
||||
DeclareLaunchArgument('subscribe_scan', default_value='false', description=''),
|
||||
DeclareLaunchArgument('scan_topic', default_value='/scan', description=''),
|
||||
DeclareLaunchArgument('subscribe_scan_cloud', default_value='false', description=''),
|
||||
DeclareLaunchArgument('scan_cloud_topic', default_value='/scan_cloud', description=''),
|
||||
DeclareLaunchArgument('scan_normal_k', default_value='0', description=''),
|
||||
|
||||
# Odometry
|
||||
DeclareLaunchArgument('visual_odometry', default_value='true', description='Launch rtabmap visual odometry node.'),
|
||||
DeclareLaunchArgument('icp_odometry', default_value='false', description='Launch rtabmap icp odometry node.'),
|
||||
DeclareLaunchArgument('odom_topic', default_value='odom', description='Odometry topic name.'),
|
||||
DeclareLaunchArgument('vo_frame_id', default_value=LaunchConfiguration('odom_topic'), description='Visual/Icp odometry frame ID for TF.'),
|
||||
DeclareLaunchArgument('publish_tf_odom', default_value='true', description=''),
|
||||
DeclareLaunchArgument('odom_tf_angular_variance', default_value='0.01', description='If TF is used to get odometry, this is the default angular variance'),
|
||||
DeclareLaunchArgument('odom_tf_linear_variance', default_value='0.001', description='If TF is used to get odometry, this is the default linear variance'),
|
||||
DeclareLaunchArgument('odom_args', default_value='', description='More arguments for odometry (overwrite same parameters in rtabmap_args).'),
|
||||
DeclareLaunchArgument('odom_sensor_sync', default_value='false', description=''),
|
||||
DeclareLaunchArgument('odom_guess_frame_id', default_value='', description=''),
|
||||
DeclareLaunchArgument('odom_guess_min_translation', default_value='0.0', description=''),
|
||||
DeclareLaunchArgument('odom_guess_min_rotation', default_value='0.0', description=''),
|
||||
|
||||
# imu
|
||||
DeclareLaunchArgument('imu_topic', default_value='/imu/data', description='Used with VIO approaches and for SLAM graph optimization (gravity constraints).'),
|
||||
DeclareLaunchArgument('wait_imu_to_init', default_value='false', description=''),
|
||||
DeclareLaunchArgument('always_check_imu_tf', default_value='true', description='The odometry node will always check if TF between IMU frame and base frame has changed. If false, it is checked till a valid transform is initialized.'),
|
||||
|
||||
# User Data
|
||||
DeclareLaunchArgument('subscribe_user_data', default_value='false', description='User data synchronized subscription.'),
|
||||
DeclareLaunchArgument('user_data_topic', default_value='/user_data', description=''),
|
||||
DeclareLaunchArgument('user_data_async_topic', default_value='/user_data_async', description='User data async subscription (rate should be lower than map update rate).'),
|
||||
|
||||
#GPS
|
||||
DeclareLaunchArgument('gps_topic', default_value='/gps/fix', description='GPS async subscription. This is used for SLAM graph optimization and loop closure candidates selection.'),
|
||||
|
||||
# Tag/Landmark
|
||||
DeclareLaunchArgument('tag_topic', default_value='/detections', description='AprilTag topic async subscription. This is used for SLAM graph optimization and loop closure detection. Landmark poses are also published accordingly to current optimized map. Required: Remove optional frame name parameters from apriltag\'s cfg file so that TF frame can be deducted from topic\'s family and id.'),
|
||||
DeclareLaunchArgument('tag_linear_variance', default_value='0.0001', description=''),
|
||||
DeclareLaunchArgument('tag_angular_variance', default_value='9999.0', description='>=9999 means rotation is ignored in optimization, when rotation estimation of the tag is not reliable or not computed.'),
|
||||
DeclareLaunchArgument('fiducial_topic', default_value='/fiducial_transforms', description='aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covariance.'),
|
||||
OpaqueFunction(function=launch_setup)
|
||||
])
|
||||
|
||||
Reference in New Issue
Block a user