forwarded camera_model arg for zed examples, removed qos for turtlebo…

…t4 demo
introlab · Nov 18, 2024 · cb796a0 · cb796a0
1 parent 0f8f119
commit cb796a0
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/rtabmap_demos/launch/turtlebot4/turtlebot4_slam.launch.py b/rtabmap_demos/launch/turtlebot4/turtlebot4_slam.launch.py
@@ -33,7 +33,6 @@
 def generate_launch_description():
 
     use_sim_time = LaunchConfiguration('use_sim_time')
-    qos = LaunchConfiguration('qos')
     localization = LaunchConfiguration('localization')
 
     icp_parameters={
@@ -74,18 +73,14 @@ def generate_launch_description():
             'use_sim_time', default_value='false', choices=['true', 'false'],
             description='Use simulation (Gazebo) clock if true'),
 
-        DeclareLaunchArgument(
-            'qos', default_value='1',
-            description='QoS used for input sensor topics'),
-
         DeclareLaunchArgument(
             'localization', default_value='false', choices=['true', 'false'],
             description='Launch rtabmap in localization mode (a map should have been already created).'),
 
         # Nodes to launch
         Node(
             package='rtabmap_sync', executable='rgbd_sync', output='screen',
-            parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time, 'qos':qos}],
+            parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time}],
             remappings=remappings),
 
         Node(

diff --git a/rtabmap_examples/launch/vlp16_zed_vio_assemble.launch.py b/rtabmap_examples/launch/vlp16_zed_vio_assemble.launch.py
@@ -46,6 +46,10 @@ def generate_launch_description():
             'qos', default_value='1',
             description='Quality of Service: 0=system default, 1=reliable, 2=best effort'),
 
+        DeclareLaunchArgument(
+            'camera_model', default_value='',
+            description="[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features. Valid choices are: ['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']"),
+
         #################################
         # Hardware specific nodes - BEGIN
         #################################

diff --git a/rtabmap_examples/launch/zed.launch.py b/rtabmap_examples/launch/zed.launch.py
@@ -93,5 +93,9 @@ def generate_launch_description():
             'use_zed_odometry', default_value='false',
             description='Use zed\'s computed odometry instead of using rtabmap\'s odometry.'),
 
+        DeclareLaunchArgument(
+            'camera_model', default_value='',
+            description="[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features. Valid choices are: ['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']"),
+
         OpaqueFunction(function=launch_setup)
     ])