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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,131 @@ | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import Node | ||
|
|
||
| def generate_launch_description(): | ||
|
|
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| lidar_frame_id = LaunchConfiguration('lidar_frame_id') | ||
|
|
||
| use_sim_time = LaunchConfiguration('use_sim_time') | ||
| deskewing = False | ||
|
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| return LaunchDescription([ | ||
|
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|
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| DeclareLaunchArgument( | ||
| 'lidar_frame_id', default_value='velodyne_laser', | ||
| description='Lidar frame id'), | ||
|
|
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| # Launch arguments | ||
| DeclareLaunchArgument( | ||
| 'use_sim_time', default_value='true', | ||
| description='Use simulation (Gazebo) clock if true'), | ||
|
|
||
| DeclareLaunchArgument( | ||
| 'deskewing', default_value='true', | ||
| description='Enable lidar deskewing'), | ||
|
|
||
| # Nodes to launch | ||
| 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, | ||
| 'deskewing': deskewing, | ||
| 'use_sim_time': use_sim_time, | ||
| }], | ||
| remappings=[ | ||
| ('scan_cloud', '/velodyne_points') | ||
| ], | ||
| 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', | ||
| ]), | ||
|
|
||
| Node( | ||
| package='rtabmap_util', executable='point_cloud_assembler', output='screen', | ||
| parameters=[{ | ||
| 'max_clouds': 10, | ||
| 'fixed_frame_id': '', | ||
| 'use_sim_time': use_sim_time, | ||
| }], | ||
| remappings=[ | ||
| ('cloud', '/velodyne_points') | ||
| ]), | ||
|
|
||
| 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, | ||
| 'approx_sync': False, | ||
| 'wait_for_transform': 0.2, | ||
| 'use_sim_time': use_sim_time, | ||
| 'wait_imu_to_int': True, | ||
| 'imu_topic': 'imu', | ||
| }], | ||
| remappings=[ | ||
| ('scan_cloud', 'assembled_cloud') | ||
| ], | ||
| 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', '0.05', | ||
| 'Grid/MaxObstacleHeight', '1.5', | ||
| 'Reg/Force3DoF', 'true', | ||
| 'Optimizer/Slam2D', 'true', | ||
|
|
||
| ]), | ||
|
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||
| 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, | ||
| 'approx_sync': False, | ||
| 'use_sim_time': use_sim_time, | ||
| }], | ||
| remappings=[ | ||
| ('scan_cloud', 'odom_filtered_input_scan') | ||
| ]), | ||
| ]) | ||
|
|
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