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added name to nodes to help see what is started, fixed rgbd_relay wit…
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…h compressed topic
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@matlabbe
matlabbe committed Oct 22, 2023
1 parent febf869 commit 389020c
Showing 1 changed file with 16 additions and 13 deletions.
29 changes: 16 additions & 13 deletions rtabmap_launch/launch/rtabmap.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ def launch_setup(context, *args, **kwargs):
arguments=[LaunchConfiguration('depth_image_transport'), 'raw'],
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_sync', executable='rgbd_sync', output="screen",
package='rtabmap_sync', executable='rgbd_sync', name="rgbd_sync", output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' != 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
parameters=[{
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
Expand Down Expand Up @@ -115,7 +115,7 @@ def launch_setup(context, *args, **kwargs):
arguments=[LaunchConfiguration('rgb_image_transport'), 'raw'],
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_sync', executable='stereo_sync', output="screen",
package='rtabmap_sync', executable='stereo_sync', name="stereo_sync", output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('stereo'), "' == 'true' and '", LaunchConfiguration('rgbd_sync'), "' == 'true'"])),
parameters=[{
"approx_sync": LaunchConfiguration('approx_rgbd_sync'),
Expand All @@ -133,25 +133,28 @@ def launch_setup(context, *args, **kwargs):

# Relay rgbd_image
Node(
package='rtabmap_util', executable='rgbd_relay', output="screen",
package='rtabmap_util', executable='rgbd_relay', name="rgbd_relay", output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('rgbd_sync'), "' != 'true' and '", LaunchConfiguration('subscribe_rgbd'), "' == 'true' and '", LaunchConfiguration('compressed'), "' != 'true'"])),
parameters=[{
"qos": LaunchConfiguration('qos_image')}],
remappings=[
("rgbd_image", LaunchConfiguration('rgbd_topic'))],
("rgbd_image", LaunchConfiguration('rgbd_topic')),
("rgbd_image_relay", LaunchConfiguration('rgbd_topic_relay'))],
namespace=LaunchConfiguration('namespace')),
Node(
package='rtabmap_util', executable='rgbd_relay', output="screen",
package='rtabmap_util', executable='rgbd_relay', name="rgbd_relay_uncompress", output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('rgbd_sync'), "' != 'true' and '", LaunchConfiguration('subscribe_rgbd'), "' == 'true' and '", LaunchConfiguration('compressed'), "' == 'true'"])),
parameters=[{
"uncompress": True,
"qos": LaunchConfiguration('qos_image')}],
remappings=[
("rgbd_image", [LaunchConfiguration('rgbd_topic'), "/compressed"]),
([LaunchConfiguration('rgbd_topic'), "/compressed_relay"], LaunchConfiguration('rgbd_topic_relay'))],
("rgbd_image_relay", LaunchConfiguration('rgbd_topic_relay'))],
namespace=LaunchConfiguration('namespace')),

# RGB-D odometry
Node(
package='rtabmap_odom', executable='rgbd_odometry', output="screen",
package='rtabmap_odom', executable='rgbd_odometry', name="rgbd_odometry", output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' != 'true' and '", LaunchConfiguration('visual_odometry'), "' == 'true' and '", LaunchConfiguration('stereo'), "' != 'true'"])),
parameters=[{
"frame_id": LaunchConfiguration('frame_id'),
Expand Down Expand Up @@ -185,7 +188,7 @@ def launch_setup(context, *args, **kwargs):

# Stereo odometry
Node(
package='rtabmap_odom', executable='stereo_odometry', output="screen",
package='rtabmap_odom', executable='stereo_odometry', name="stereo_odometry", output="screen",
condition=IfCondition(PythonExpression(["'", LaunchConfiguration('icp_odometry'), "' != 'true' and '", LaunchConfiguration('visual_odometry'), "' == 'true' and '", LaunchConfiguration('stereo'), "' == 'true'"])),
parameters=[{
"frame_id": LaunchConfiguration('frame_id'),
Expand Down Expand Up @@ -220,7 +223,7 @@ def launch_setup(context, *args, **kwargs):

# ICP odometry
Node(
package='rtabmap_odom', executable='icp_odometry', output="screen",
package='rtabmap_odom', executable='icp_odometry', name="icp_odometry", output="screen",
condition=IfCondition(LaunchConfiguration('icp_odometry')),
parameters=[{
"frame_id": LaunchConfiguration('frame_id'),
Expand Down Expand Up @@ -248,7 +251,7 @@ def launch_setup(context, *args, **kwargs):
namespace=LaunchConfiguration('namespace')),

Node(
package='rtabmap_slam', executable='rtabmap', output="screen",
package='rtabmap_slam', executable='rtabmap', name="rtabmap", output="screen",
parameters=[{
"subscribe_depth": LaunchConfiguration('depth'),
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
Expand Down Expand Up @@ -309,7 +312,7 @@ def launch_setup(context, *args, **kwargs):
namespace=LaunchConfiguration('namespace')),

Node(
package='rtabmap_viz', executable='rtabmap_viz', output='screen',
package='rtabmap_viz', executable='rtabmap_viz', name="rtabmap_viz", output='screen',
parameters=[{
"subscribe_depth": LaunchConfiguration('depth'),
"subscribe_rgbd": LaunchConfiguration('subscribe_rgbd'),
Expand Down Expand Up @@ -347,11 +350,11 @@ def launch_setup(context, *args, **kwargs):
prefix=LaunchConfiguration('launch_prefix'),
namespace=LaunchConfiguration('namespace')),
Node(
package='rviz2', executable='rviz2', output='screen',
package='rviz2', executable='rviz2', name="rviz2", output='screen',
condition=IfCondition(LaunchConfiguration("rviz")),
arguments=[["-d"], [LaunchConfiguration("rviz_cfg")]]),
Node(
package='rtabmap_util', executable='point_cloud_xyzrgb', output='screen',
package='rtabmap_util', executable='point_cloud_xyzrgb', name="point_cloud_xyzrgb", output='screen',
condition=IfCondition(LaunchConfiguration("rviz")),
parameters=[{
"decimation": 4,
Expand Down

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