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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,164 @@ | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import Node | ||
| from launch.actions import IncludeLaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch_ros.actions import Node | ||
| from ament_index_python.packages import get_package_share_directory | ||
| import os | ||
|
|
||
| def generate_launch_description(): | ||
|
|
||
| pkg_rove_zed = get_package_share_directory('rove_zed') | ||
|
|
||
| # Launch configuration | ||
| use_sim_time = LaunchConfiguration('use_sim_time') | ||
| deskewing = False | ||
|
|
||
| zed = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(pkg_rove_zed, 'launch', 'zed_mapping.launch.py'), | ||
| ) | ||
| ) | ||
|
|
||
| # Nodes | ||
| icp_odometry_node = Node( | ||
| package='rtabmap_odom', | ||
| executable='icp_odometry', | ||
| name='icp_odometry', | ||
| output='screen', | ||
| parameters=[{ | ||
| 'odom_frame_id': '/odom', | ||
| 'wait_for_transform': 0.2, | ||
| 'publish_tf': False, | ||
| 'expected_update_rate': 50.0, | ||
| 'deskewing': deskewing, | ||
| 'use_sim_time': use_sim_time, | ||
| }], | ||
| remappings=[ | ||
| ('scan_cloud', '/velodyne_points'), | ||
| ('odom', '/icp_odom') | ||
| ], | ||
| arguments=[ | ||
| 'Icp/PointToPlane', 'true', | ||
| 'Icp/Iterations', '10', | ||
| 'Icp/VoxelSize', '0.1', | ||
| 'Icp/Epsilon', '0.001', | ||
| 'Icp/PointToPlaneK', '20', | ||
| 'Icp/PointToPlaneRadius', '0', | ||
| 'Icp/MaxTranslation', '2', | ||
| 'Icp/MaxCorrespondenceDistance', '1', | ||
| 'Icp/Strategy', '1', | ||
| 'Icp/OutlierRatio', '0.7', | ||
| 'Icp/CorrespondenceRatio', '0.01', | ||
| 'Odom/ScanKeyFrameThr', '0.4', | ||
| 'OdomF2M/ScanSubtractRadius', '0.1', | ||
| 'OdomF2M/ScanMaxSize', '15000', | ||
| 'OdomF2M/BundleAdjustment', 'false', | ||
| ] | ||
| ) | ||
|
|
||
| point_cloud_assembler_node = Node( | ||
| package='rtabmap_util', | ||
| executable='point_cloud_assembler', | ||
| name='point_cloud_assembler', | ||
| output='screen', | ||
| parameters=[{ | ||
| 'max_clouds': 10, | ||
| 'use_sim_time': use_sim_time, | ||
| }], | ||
| remappings=[ | ||
| ('cloud', '/velodyne_points'), | ||
| ('odom', '/odometry/local') | ||
| ] | ||
| ) | ||
|
|
||
| camera_sync = Node( | ||
| package='rtabmap_sync', executable='rgbd_sync', output='screen', | ||
| parameters=[{ | ||
| 'approx_sync':True | ||
| }], | ||
| remappings=[ | ||
| ('/depth/image', '/zed/zed_node/depth/depth_registered'), | ||
| ('/rgb/camera_info' , '/zed/zed_node/depth/camera_info'), | ||
| ('/rgb/image', '/zed/zed_node/rgb/image_rect_color') | ||
| ]) | ||
|
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||
|
|
||
| rtabmap_node = Node( | ||
| package='rtabmap_slam', | ||
| executable='rtabmap', | ||
| name='rtabmap', | ||
| output='screen', | ||
| parameters=[{ | ||
| 'subscribe_depth': False, | ||
| 'subscribe_rgb': False, | ||
| 'subscribe_scan_cloud': True, | ||
| 'approx_sync': True, | ||
| 'wait_for_transform': 0.2, | ||
| 'use_sim_time': use_sim_time, | ||
| }], | ||
| remappings=[ | ||
| ('scan_cloud', '/assembled_cloud'), | ||
| ('odom', '/odometry/local') | ||
|
|
||
| ], | ||
| arguments=[ | ||
| '-d', # This will delete the previous database (~/.ros/rtabmap.db) | ||
| 'RGBD/ProximityMaxGraphDepth', '0', | ||
| 'RGBD/ProximityPathMaxNeighbors', '1', | ||
| 'RGBD/AngularUpdate', '0.05', | ||
| 'RGBD/LinearUpdate', '0.05', | ||
| 'RGBD/CreateOccupancyGrid', 'true', | ||
| 'Mem/NotLinkedNodesKept', 'false', | ||
| 'Mem/STMSize', '30', | ||
| 'Mem/LaserScanNormalK', '20', | ||
| 'Reg/Strategy', '1', | ||
| 'Icp/VoxelSize', '0.5', | ||
| 'Icp/PointToPlaneK', '20', | ||
| 'Icp/PointToPlaneRadius', '0', | ||
| 'Icp/PointToPlane', 'true', | ||
| 'Icp/Iterations', '10', | ||
| 'Icp/Epsilon', '0.001', | ||
| 'Icp/MaxTranslation', '3', | ||
| 'Icp/MaxCorrespondenceDistance', '1', | ||
| 'Icp/Strategy', '1', | ||
| 'Icp/OutlierRatio', '0.7', | ||
| 'Icp/CorrespondenceRatio', '0.2', | ||
| 'Grid/MaxGroundHeight', '0.1', | ||
| 'Grid/MaxObstacleHeight', '1.5', | ||
| 'Grid/RayTracing', 'true', | ||
| 'Grid/3D', 'false', | ||
| 'Reg/Force3DoF', 'true', | ||
| 'Optimizer/Slam2D', 'true', | ||
| ] | ||
| ) | ||
|
|
||
| rtabmap_viz_node = Node( | ||
| package='rtabmap_viz', | ||
| executable='rtabmap_viz', | ||
| name='rtabmap_viz', | ||
| output='screen', | ||
| parameters=[{ | ||
| 'odom_frame_id': 'odom', | ||
| 'subscribe_rgbd':True, | ||
| 'subscribe_odom_info': True, | ||
| 'subscribe_scan_cloud': True, | ||
| 'approx_sync': True, | ||
| 'use_sim_time': use_sim_time, | ||
| }], | ||
| remappings=[ | ||
| ('scan_cloud', '/assembled_cloud'), | ||
| ('odom', '/odometry/local') | ||
| ] | ||
| ) | ||
|
|
||
| return LaunchDescription([ | ||
| icp_odometry_node, | ||
| point_cloud_assembler_node, | ||
| rtabmap_node, | ||
| rtabmap_viz_node, | ||
| zed, | ||
| camera_sync, | ||
| ]) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,69 @@ | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch.actions import IncludeLaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch_ros.actions import Node | ||
| from ament_index_python.packages import get_package_share_directory | ||
| import os | ||
|
|
||
| def generate_launch_description(): | ||
|
|
||
| pkg_rove_zed = get_package_share_directory('rove_zed') | ||
|
|
||
| parameters=[{ | ||
| 'odom_frame_id': 'odom', | ||
| 'publish_tf': False, | ||
| 'frame_id':'zed_camera_link', | ||
| 'subscribe_depth': True, | ||
| 'subscribe_odom_info': True, | ||
| 'approx_sync': True, | ||
| 'wait_imu_to_init':True}] | ||
|
|
||
| remappings=[ | ||
| ('imu', '/zed/zed_node/imu/data'), | ||
| ('rgb/image', '/zed/zed_node/rgb/image_rect_color'), | ||
| ('rgb/camera_info', '/zed/zed_node/depth/camera_info'), | ||
| ('depth/image', '/zed/zed_node/depth/depth_registered'), | ||
| ('odom', '/zed/zed_node/odom') | ||
|
|
||
| ] | ||
|
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||
|
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||
|
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||
| zed = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(pkg_rove_zed, 'launch', 'zed_mapping.launch.py'), | ||
| ) | ||
| ) | ||
|
|
||
| rtabmap_slam = Node( | ||
| package='rtabmap_slam', executable='rtabmap', output='screen', | ||
| parameters=parameters, | ||
| remappings=remappings, | ||
| arguments=['-d']) | ||
|
|
||
| rtabmap_viz_node = Node( | ||
| package='rtabmap_viz', | ||
| executable='rtabmap_viz', | ||
| name='rtabmap_viz', | ||
| output='screen', | ||
| parameters=parameters, | ||
| remappings=remappings | ||
| ) | ||
|
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||
|
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||
|
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| odom = Node( | ||
| package='rtabmap_odom', executable='rgbd_odometry', output='screen', | ||
| parameters=parameters, | ||
| remappings=remappings) | ||
|
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||
|
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||
|
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| return LaunchDescription([ | ||
| odom, | ||
| zed, | ||
| rtabmap_slam, | ||
| rtabmap_viz_node, | ||
| ]) |