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- <launch>
- <arg name="offline" default="false"/>
- <include unless="$(arg offline)"
- file="$(find realsense2_camera)/launch/rs_camera.launch">
- <arg name="align_depth" value="true"/>
- </include>
- <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
- <arg name="args" value="--delete_db_on_start"/>
- <arg name="rgb_topic" value="/camera/color/image_raw"/>
- <arg name="depth_topic" value="/camera/aligned_depth_to_color/image_raw"/>
- <arg name="camera_info_topic" value="/camera/color/camera_info"/>
- <arg name="depth_camera_info_topic" value="/camera/depth/camera_info"/>
- <arg name="rtabmapviz" value="false"/>
- <arg name="rviz" value="true"/>
- </include>
- <include file="$(find robot_localization)/launch/ukf_template.launch"/>
- <param name="/ukf_se/frequency" value="300"/>
- <param name="/ukf_se/base_link_frame" value="camera_link"/>
- <param name="/ukf_se/odom0" value="/rtabmap/odom"/>
- <rosparam param="/ukf_se/odom0_config">[true,true,true,
- true,true,true,
- true,true,true,
- true,true,true,
- true,true,true]
- </rosparam>
- <param name="/ukf_se/odom0_relative" value="true"/>
- <param name="/ukf_se/odom0_pose_rejection_threshold" value="10000000"/>
- <param name="/ukf_se/odom0_twist_rejection_threshold" value="10000000"/>
- <param name="/ukf_se/imu0" value="/mavros/imu/data"/>
- <rosparam param="/ukf_se/imu0_config">[false, false, false,
- true, true, true,
- true, true, true,
- true, true, true,
- true, true, true]
- </rosparam>
- <param name="/ukf_se/imu0_differential" value="true"/>
- <param name="/ukf_se/imu0_relative" value="false"/>
- <param name="/ukf_se/use_control" value="false"/>
- <!-- <param name="/ukf_se/odom0_config" value="{true,true,true,}"/> -->
- </launch>
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