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65 lines
3.1 KiB
65 lines
3.1 KiB
<launch>
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<arg name="sim" />
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<arg name="localization" default="false" />
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<arg name="database_path" default="rtabmap.db"/>
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<arg name="args" default="-d"/> <!--Possible arg -d to delete database on startup-->
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<arg name="wait_for_transform" default="0.2"/>
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<arg name="move_base_config"/>
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<group if="$(arg sim)">
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<arg name="pointcloud_topic" default="/camera/depth/image_raw"/>
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<arg name="cmd_vel_topic" value="/stretch_diff_drive_controller/cmd_vel"/>
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<arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
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<arg name="scan_topic" default="/scan"/>
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<arg name="rgb_topic" default="/camera/color/image_raw"/>
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<arg name="rgb_camera_info" default="/camera/color/camera_info"/>
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<include file="$(find stretch_rtabmap)/launch/move_base.launch">
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<arg name="config" value="$(arg move_base_config)" />
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<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
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<arg name="odom_topic" value="$(arg odom_topic)"/>
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</include>
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<include file="$(find stretch_rtabmap)/launch/rtab.launch">
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<arg name="localization" value="$(arg localization)"/>
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<arg name="args" value="$(arg args)"/>
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<arg name="database_path" default="$(arg database_path)"/>
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<arg name="wait_for_transform" default="$(arg wait_for_transform)"/>
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<arg name="pointcloud_topic" value="$(arg pointcloud_topic)"/>
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<arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
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<arg name="odom_topic" default="$(arg odom_topic)"/>
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<arg name="scan" default="$(arg scan_topic)"/>
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<arg name="rgb_topic" default="$(arg rgb_topic)"/>
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<arg name="rgb_camera_info" default="$(arg rgb_camera_info)"/>
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</include>
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</group>
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<group unless="$(arg sim)">
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<arg name="pointcloud_topic" value="/camera/aligned_depth_to_color/image_raw"/>
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<arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
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<arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
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<arg name="scan_topic" default="/scan"/>
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<arg name="rgb_topic" default="/camera/color/image_raw"/>
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<arg name="rgb_camera_info" default="/camera/color/camera_info"/>
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<include file="$(find stretch_rtabmap)/launch/robot.launch"/>
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<include file="$(find stretch_rtabmap)/launch/move_base.launch">
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<arg name="config" value="$(arg move_base_config)" />
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<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
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<arg name="odom_topic" value="$(arg odom_topic)"/>
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</include>
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<include file="$(find stretch_rtabmap)/launch/rtab.launch">
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<arg name="localization" value="$(arg localization)"/>
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<arg name="args" value="$(arg args)"/>
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<arg name="database_path" default="$(arg database_path)"/>
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<arg name="wait_for_transform" default="$(arg wait_for_transform)"/>
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<arg name="pointcloud_topic" value="$(arg pointcloud_topic)"/>
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<arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
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<arg name="odom_topic" default="$(arg odom_topic)"/>
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<arg name="scan" default="$(arg scan_topic)"/>
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<arg name="rgb_topic" default="$(arg rgb_topic)"/>
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<arg name="rgb_camera_info" default="$(arg rgb_camera_info)"/>
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</include>
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</group>
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</launch>
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