templates/lms-nav2-gazebo-slam3D
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feat: persist 3d slam database in workspace

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This commit is contained in:
chyoo
2026-07-29 15:57:19 +09:00
parent 669e27a0f6
commit 949636f7e3
1 changed files with 3 additions and 2 deletions
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src/slam3d_pkg/launch/slam.launch.py
+3 -2
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@@ -16,11 +16,13 @@ from nav2_common.launch import RewrittenYaml
ARGUMENTS = [ ARGUMENTS = [
DeclareLaunchArgument('sim_mode', default_value='true'), DeclareLaunchArgument('sim_mode', default_value='true'),
DeclareLaunchArgument('robot', default_value='fr09', choices=['mkmini', 'fr09', 'f1tenth']), DeclareLaunchArgument('robot', default_value='fr09', choices=['mkmini', 'fr09', 'f1tenth']),
DeclareLaunchArgument('database_path', default_value='~/.ros/rtabmap.db'),
] ]
def launch_setup(context, *args, **kwargs): def launch_setup(context, *args, **kwargs):
sim_mode = LaunchConfiguration('sim_mode').perform(context).lower() sim_mode = LaunchConfiguration('sim_mode').perform(context).lower()
robot = LaunchConfiguration('robot').perform(context) robot = LaunchConfiguration('robot').perform(context)
database_path = LaunchConfiguration('database_path')
remappings=[ remappings=[
('/tf', 'tf'), ('/tf', 'tf'),
@@ -59,7 +61,7 @@ def launch_setup(context, *args, **kwargs):
executable='rtabmap', executable='rtabmap',
name='rtabmap', name='rtabmap',
output='screen', output='screen',
parameters=[rtabmap_params_file], parameters=[rtabmap_params_file, {'database_path': database_path}],
remappings=remappings, remappings=remappings,
arguments=['-d'] arguments=['-d']
), ),
@@ -71,4 +73,3 @@ def generate_launch_description():
ld = LaunchDescription(ARGUMENTS) ld = LaunchDescription(ARGUMENTS)
ld.add_action(OpaqueFunction(function=launch_setup)) ld.add_action(OpaqueFunction(function=launch_setup))
return ld return ld