X-lanni
41 lines
1.2 KiB
Markdown
41 lines
1.2 KiB
Markdown
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# Usage
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`rtabmap.launch` from ros1 has been ported to ROS2 as `rtabmap.launch.py` with same arguments. If you see [ROS1 examples](http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping) like this:
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```bash
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roslaunch zed_wrapper zed_no_tf.launch
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roslaunch rtabmap_ros rtabmap.launch \
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rtabmap_args:="--delete_db_on_start" \
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rgb_topic:=/zed/zed_node/rgb/image_rect_color \
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depth_topic:=/zed/zed_node/depth/depth_registered \
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camera_info_topic:=/zed/zed_node/rgb/camera_info \
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frame_id:=base_link \
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approx_sync:=false \
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wait_imu_to_init:=true \
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imu_topic:=/zed_node/imu/data
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```
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The ROS2 equivalent is (using latest zed_wrapper launch file):
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```bash
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ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i \
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publish_tf:=false \
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publish_map_tf:=false
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ros2 launch rtabmap_launch rtabmap.launch.py \
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rtabmap_args:="--delete_db_on_start" \
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rgb_topic:=/zed/zed_node/rgb/image_rect_color \
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depth_topic:=/zed/zed_node/depth/depth_registered \
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camera_info_topic:=/zed/zed_node/rgb/camera_info \
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frame_id:=zed_camera_link \
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approx_sync:=false \
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wait_imu_to_init:=true \
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imu_topic:=/zed/zed_node/imu/data \
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rviz:=true
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```
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