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update realsense examples
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ARK3r authored Oct 16, 2024
1 parent ad97f56 commit 0f3e5d1
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Showing 3 changed files with 17 additions and 17 deletions.
12 changes: 6 additions & 6 deletions rtabmap_examples/launch/realsense_d435i_color.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
# A realsense D435i
# Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
# Example:
# $ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=1 enable_sync:=true
# $ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=1 enable_sync:=true align_depth.enable:=true
#
# $ ros2 launch rtabmap_examples realsense_d435i_color.launch.py

Expand All @@ -25,9 +25,9 @@ def generate_launch_description():

remappings=[
('imu', '/imu/data'),
('rgb/image', '/camera/color/image_raw'),
('rgb/camera_info', '/camera/color/camera_info'),
('depth/image', '/camera/aligned_depth_to_color/image_raw')]
('rgb/image', '/camera/camera/color/image_raw'),
('rgb/camera_info', '/camera/camera/color/camera_info'),
('depth/image', '/camera/camera/aligned_depth_to_color/image_raw')]

return LaunchDescription([

Expand All @@ -41,7 +41,7 @@ def generate_launch_description():
'/rs_launch.py']),
launch_arguments={'enable_gyro': 'true',
'enable_accel': 'true',
'unite_imu_method': '1',
'unite_imu_method': '2',
'align_depth.enable': 'true',
'enable_sync': 'true',
'rgb_camera.profile': '640x360x30'}.items(),
Expand Down Expand Up @@ -69,7 +69,7 @@ def generate_launch_description():
parameters=[{'use_mag': False,
'world_frame':'enu',
'publish_tf':False}],
remappings=[('imu/data_raw', '/camera/imu')]),
remappings=[('imu/data_raw', '/camera/camera/imu')]),

# The IMU frame is missing in TF tree, add it:
Node(
Expand Down
10 changes: 5 additions & 5 deletions rtabmap_examples/launch/realsense_d435i_infra.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,9 @@ def generate_launch_description():

remappings=[
('imu', '/imu/data'),
('rgb/image', '/camera/infra1/image_rect_raw'),
('rgb/camera_info', '/camera/infra1/camera_info'),
('depth/image', '/camera/depth/image_rect_raw')]
('rgb/image', '/camera/camera/infra1/image_rect_raw'),
('rgb/camera_info', '/camera/camera/infra1/camera_info'),
('depth/image', '/camera/camera/depth/image_rect_raw')]

return LaunchDescription([

Expand All @@ -39,7 +39,7 @@ def generate_launch_description():
'/rs_launch.py']),
launch_arguments={'enable_gyro': 'true',
'enable_accel': 'true',
'unite_imu_method': '1',
'unite_imu_method': '2',
'enable_infra1': 'true',
'enable_infra2': 'true',
'enable_sync': 'true'}.items(),
Expand Down Expand Up @@ -67,7 +67,7 @@ def generate_launch_description():
parameters=[{'use_mag': False,
'world_frame':'enu',
'publish_tf':False}],
remappings=[('imu/data_raw', '/camera/imu')]),
remappings=[('imu/data_raw', '/camera/camera/imu')]),

# The IMU frame is missing in TF tree, add it:
Node(
Expand Down
12 changes: 6 additions & 6 deletions rtabmap_examples/launch/realsense_d435i_stereo.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -22,10 +22,10 @@ def generate_launch_description():

remappings=[
('imu', '/imu/data'),
('left/image_rect', '/camera/infra1/image_rect_raw'),
('left/camera_info', '/camera/infra1/camera_info'),
('right/image_rect', '/camera/infra2/image_rect_raw'),
('right/camera_info', '/camera/infra2/camera_info')]
('left/image_rect', '/camera/camera/infra1/image_rect_raw'),
('left/camera_info', '/camera/camera/infra1/camera_info'),
('right/image_rect', '/camera/camera/infra2/image_rect_raw'),
('right/camera_info', '/camera/camera/infra2/camera_info')]

return LaunchDescription([

Expand All @@ -39,7 +39,7 @@ def generate_launch_description():
'/rs_launch.py']),
launch_arguments={'enable_gyro': 'true',
'enable_accel': 'true',
'unite_imu_method': '1',
'unite_imu_method': '2',
'enable_infra1': 'true',
'enable_infra2': 'true',
'enable_sync': 'true'}.items(),
Expand Down Expand Up @@ -67,7 +67,7 @@ def generate_launch_description():
parameters=[{'use_mag': False,
'world_frame':'enu',
'publish_tf':False}],
remappings=[('imu/data_raw', '/camera/imu')]),
remappings=[('imu/data_raw', '/camera/camera/imu')]),

# The IMU frame is missing in TF tree, add it:
Node(
Expand Down

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