feat: persist 3d slam database in workspace

src/slam3d_pkg/launch/slam.launch.py

@@ -16,11 +16,13 @@ from nav2_common.launch import RewrittenYaml
 ARGUMENTS = [
     DeclareLaunchArgument('sim_mode', default_value='true'),
     DeclareLaunchArgument('robot', default_value='fr09', choices=['mkmini', 'fr09', 'f1tenth']),
+    DeclareLaunchArgument('database_path', default_value='~/.ros/rtabmap.db'),
 ]
 
 def launch_setup(context, *args, **kwargs):
     sim_mode = LaunchConfiguration('sim_mode').perform(context).lower()
     robot = LaunchConfiguration('robot').perform(context)
+    database_path = LaunchConfiguration('database_path')
 
     remappings=[
           ('/tf', 'tf'),
@@ -59,7 +61,7 @@ def launch_setup(context, *args, **kwargs):
                 executable='rtabmap',
                 name='rtabmap',
                 output='screen',
-                parameters=[rtabmap_params_file],
+                parameters=[rtabmap_params_file, {'database_path': database_path}],
                 remappings=remappings,
                 arguments=['-d']
             ),
@@ -71,4 +73,3 @@ def generate_launch_description():
     ld = LaunchDescription(ARGUMENTS)
     ld.add_action(OpaqueFunction(function=launch_setup))
     return ld
-