File size: 3,583 Bytes
9869d0d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 | import os
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
def generate_launch_description():
# Parâmetros comuns para Simulação
use_sim_time = {'use_sim_time': True}
# 1. Sincronizador RGB-D
sync_node = Node(
package='rtabmap_sync',
executable='rgbd_sync',
name='rgbd_sync',
parameters=[{
'approx_sync': True,
'approx_sync_max_interval': 0.125,
'queue_size': 10,
**use_sim_time
}],
remappings=[
('rgb/image', '/camera_front/rgb'),
('depth/image', '/camera_front/depth'),
('rgb/camera_info', '/camera_front/camera_info'),
('rgbd_image', '/camera_front/rgbd_image')
],
output='screen'
)
# 2. Visual Odometry Node
# This node computes odometry from the RGB-D stream
odom_node = Node(
package='rtabmap_odom',
executable='rgbd_odometry',
name='rgbd_odometry',
output='screen',
parameters=[{
'frame_id': 'base_footprint',
'odom_frame_id': 'odom',
'publish_tf': False,
'subscribe_rgbd': True,
'queue_size': 10,
'wait_for_transform': 0.2,
# 'wait_imu_to_init': True,
**use_sim_time,
'Vis/FeatureType': '2',
'Vis/RoiRatios': '0.0, 0.0, 0.0, 0.05',
'Odom/ResetCountdown': '1', # Automatically reset odom when lost (prevents total freeze)
'Odom/Strategy': '0', # 0=Frame-to-Map (more stable), 1=Frame-to-Frame
'Vis/MinInliers': '10', # Minimum features to accept a transformation
'Vis/MaxFeatures': '1000', # Increase the search space for features
}],
remappings=[
('rgbd_image', '/camera_front/rgbd_image'),
('odom', '/rtabmap_odom')
]
)
# 3. Nó Principal do RTAB-Map (SLAM)
rtabmap_node = Node(
package='rtabmap_slam',
executable='rtabmap',
name='rtabmap',
output='screen',
parameters=[{
'subscribe_rgbd': True,
'subscribe_depth': False,
'subscribe_rgb': False,
'frame_id': 'base_footprint',
'map_frame_id': 'map',
'publish_tf': False, # RTAB-Map publishes map -> odom
'odom_frame_id': 'odom',
'Reg/Strategy': '0', # 0=Visual, 1=ICP, 2=Visual+ICP
'RGBD/ProximityBySpace': 'true',
'queue_size': 10,
**use_sim_time,
'Grid/FromDepth': 'true',
'Vis/RoiRatios': '0.0, 0.0, 0.0, 0.2',
'Grid/DepthRoiRatios': '0.0, 0.0, 0.0, 0.2',
}],
remappings=[
('rgbd_image', '/camera_front/rgbd_image'),
('odom', '/rtabmap_odom'),
],
arguments=['--delete_db_on_start']
)
# 4. Visualização Opcional (RTAB-Map Viz)
rtabmap_viz = Node(
package='rtabmap_viz',
executable='rtabmap_viz',
name='rtabmap_viz',
parameters=[{
'subscribe_rgbd': True,
'frame_id': 'base_footprint',
**use_sim_time
}],
remappings=[
('rgbd_image', '/camera_front/rgbd_image')
],
output='screen'
)
return LaunchDescription([
sync_node,
odom_node,
rtabmap_node,
# rtabmap_viz
]) |