From d00598d72c8d9beba0911f03a0e95eccdb7b0d23 Mon Sep 17 00:00:00 2001
From: SimonR99 <simonroy99@hotmail.ca>
Date: Sun, 9 Jun 2024 22:57:29 -0400
Subject: [PATCH] slam 3d basic real hardware

---
 src/rove_bringup/launch/autonomy.launch.py |  6 +++---
 src/rove_slam/launch/slam.launch.py        |  2 +-
 src/rove_slam/launch/slam3d.launch.py      | 12 ++----------
 3 files changed, 6 insertions(+), 14 deletions(-)

diff --git a/src/rove_bringup/launch/autonomy.launch.py b/src/rove_bringup/launch/autonomy.launch.py
index bf0132b..64c1db7 100644
--- a/src/rove_bringup/launch/autonomy.launch.py
+++ b/src/rove_bringup/launch/autonomy.launch.py
@@ -6,7 +6,7 @@
 
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
-from launch.conditions import IfCondition
+from launch.conditions import IfCondition, UnlessCondition
 
 
 def generate_launch_description():
@@ -29,7 +29,7 @@ def generate_launch_description():
                 pkg_rove_slam, "config", "slam_config.yaml"
             )
         }.items(),
-        condition=IfCondition(use_slam3d)
+        condition=UnlessCondition(use_slam3d)
     )
 
     slam3d = IncludeLaunchDescription(
@@ -53,7 +53,7 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
-            #slam,
+            slam,
             slam3d,
             nav,
             ])
diff --git a/src/rove_slam/launch/slam.launch.py b/src/rove_slam/launch/slam.launch.py
index 569ad47..0f0b729 100644
--- a/src/rove_slam/launch/slam.launch.py
+++ b/src/rove_slam/launch/slam.launch.py
@@ -9,7 +9,7 @@ def generate_launch_description():
     pkg_rove_slam = get_package_share_directory('rove_slam')
 
     config_file = os.path.join(pkg_rove_slam, 'config',
-                               'mapper_params_online_async.yaml')
+                               'slam_config.yaml')
 
     return LaunchDescription([
         Node(
diff --git a/src/rove_slam/launch/slam3d.launch.py b/src/rove_slam/launch/slam3d.launch.py
index 8b22f22..00710e6 100644
--- a/src/rove_slam/launch/slam3d.launch.py
+++ b/src/rove_slam/launch/slam3d.launch.py
@@ -8,20 +8,15 @@ def generate_launch_description():
     camera_model = 'zed2i'
 
     lidar_frame_id = LaunchConfiguration('lidar_frame_id')
-
     use_sim_time = LaunchConfiguration('use_sim_time')
+    
     deskewing = False
     
     return LaunchDescription([
 
-        
-         DeclareLaunchArgument(
-                'lidar_frame_id', default_value='velodyne_laser',
-                description='Lidar frame id'),
-
         # Launch arguments
         DeclareLaunchArgument(
-            'use_sim_time', default_value='true',
+            'use_sim_time', default_value='false',
             description='Use simulation (Gazebo) clock if true'),
         
         DeclareLaunchArgument(
@@ -32,7 +27,6 @@ def generate_launch_description():
         Node(
                 package='rtabmap_odom', executable='icp_odometry', output='screen',
                 parameters=[{
-                    'frame_id': lidar_frame_id,  # 'livox_frame'
                     'odom_frame_id': 'odom',
                     'wait_for_transform': 0.2,
                     'expected_update_rate': 50.0,
@@ -73,7 +67,6 @@ def generate_launch_description():
         Node(
                 package='rtabmap_slam', executable='rtabmap', output='screen',
                 parameters=[{
-                    'frame_id': lidar_frame_id,  # 'livox_frame'
                     'subscribe_depth': False,
                     'subscribe_rgb': False,
                     'subscribe_scan_cloud': True,
@@ -118,7 +111,6 @@ def generate_launch_description():
          Node(
                 package='rtabmap_viz', executable='rtabmap_viz', output='screen',
                 parameters=[{
-                    'frame_id': lidar_frame_id,
                     'odom_frame_id': 'odom',
                     'subscribe_odom_info': True,
                     'subscribe_scan_cloud': True,