From bed30814354cff821e69735bea0706ddc59aaf71 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 29 Jun 2024 19:44:23 -0700 Subject: [PATCH] turtlebot4 demo: added odom_sensor_sync and added description to fix lidar/cloud misalignment. --- rtabmap_demos/launch/turtlebot4_ignition_demo.launch.py | 4 ++++ rtabmap_demos/launch/turtlebot4_slam.launch.py | 5 +++++ 2 files changed, 9 insertions(+) diff --git a/rtabmap_demos/launch/turtlebot4_ignition_demo.launch.py b/rtabmap_demos/launch/turtlebot4_ignition_demo.launch.py index fefb9cc95..d05f7666a 100644 --- a/rtabmap_demos/launch/turtlebot4_ignition_demo.launch.py +++ b/rtabmap_demos/launch/turtlebot4_ignition_demo.launch.py @@ -1,3 +1,7 @@ +# +# Note: Make sure you have this fix for turtlebot4_description https://github.com/turtlebot/turtlebot4/pull/434, +# otherwise, the lidar and camera point cloud won't be aligned correctly. +# # Example: # 1) Launch simulator (turtlebot4, nav2 and rtabmap): # $ ros2 launch rtabmap_demos turtlebot4_ignition.launch.py diff --git a/rtabmap_demos/launch/turtlebot4_slam.launch.py b/rtabmap_demos/launch/turtlebot4_slam.launch.py index 44769ffbe..49344e588 100644 --- a/rtabmap_demos/launch/turtlebot4_slam.launch.py +++ b/rtabmap_demos/launch/turtlebot4_slam.launch.py @@ -1,3 +1,7 @@ +# +# Note: Make sure you have this fix for turtlebot4_description https://github.com/turtlebot/turtlebot4/pull/434, +# otherwise, the lidar and camera point cloud won't be aligned correctly. +# # Example with gazebo: # 1) Launch simulator (turtlebot4 and nav2): # $ ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=false nav2:=true rviz:=true @@ -39,6 +43,7 @@ def generate_launch_description(): 'subscribe_rgbd':True, 'subscribe_scan':True, 'use_action_for_goal':True, + 'odom_sensor_sync': True, 'qos_scan':qos, 'qos_image':qos, 'qos_imu':qos,