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rtabmap.launch
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rtabmap.launch
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<launch>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<!-- <arg name="hostname" default="172.26.1.1" /> -->
<arg name="delete" default=""/>
<arg name="sim" default="true"/>
<arg name="remote" default="false"/>
<arg name="cuda" default="false"/>
<arg name="db" default="rtabmap.db"/>
<arg name="hostname" default="10.0.0.1"/>
<arg name="explore" default="false"/>
<arg name="gt" default="$(arg sim)"/>
<group unless="$(arg sim)">
<node name="robotino_node" pkg="robotino_node" type="robotino_node" output="screen">
<param name="hostname" value="$(arg hostname)"/>
<param name="max_linear_vel" value="0.1"/>
<param name="min_linear_vel" value="0.01"/>
<param name="max_angular_vel" value="1.0"/>
<param name="min_angular_vel" value="0.01"/>
<remap from="robotino_joint_states" to="joint_states"/>
<!--remap from="image_raw" to="image"/-->
</node>
<node name="robotino_odometry_node" pkg="robotino_node" type="robotino_odometry_node" output="screen">
<param name="hostname" value="$(arg hostname)"/>
</node>
<group unless="$(arg remote)">
<!-- load camera and lidar -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="enable_infra1" value="false"/>
<arg name="enable_infra2" value="false"/>
<arg name="enable_fisheye" value="false"/>
<arg name="depth_fps" default="60"/>
<arg name="color_fps" default="60"/>
<arg name="align_depth" value="true"/>
<arg name="enable_sync" value="true"/>
<arg name="clip_distance" value="3"/>
<arg name="allow_no_texture_points" value="false"/>
</include>
<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
<param name="serial_port" type="string" value="/dev/ttyUSB0"/>
<param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 -->
<!--param name="serial_baudrate" type="int" value="256000"--><!--A3 -->
<param name="frame_id" type="string" value="base_link"/>
<param name="inverted" type="bool" value="false"/>
<param name="angle_compensate" type="bool" value="true"/>
</node>
<rosparam command="load" file="$(find robotino_description)/urdf/joints.yaml"/>
</group>
</group>
<!--RTAB-->
<include file="$(find robotino_simulations)/launch/mapping.launch">
<arg name="delete" value="$(arg delete)"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="cuda" value="$(arg cuda)"/>
<arg name="database_path" value="$(arg db)"/>
<arg name="compressed" value="$(arg remote)"/>
<arg name="gt" value="$(arg gt)"/>
</include>
<include file="$(find robotino_simulations)/launch/move_base.launch">
<arg name="sim" value="$(arg sim)"/>
</include>
</launch>