isaac_ros_visual_slam.launch.py

import launch
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    """Launch file which brings up visual slam node configured."""
 

    visual_slam_node = ComposableNode(
        name='visual_slam_node',
        package='isaac_ros_visual_slam',
        plugin='isaac_ros::visual_slam::VisualSlamNode',
        parameters=[{
                    'denoise_input_images': False,
                    'rectified_images': True,
                    'enable_debug_mode': False,
                    'debug_dump_path': '/tmp/cuvslam',
                    'enable_slam_visualization': True,
                    'enable_landmarks_view': True,
                    'enable_observations_view': True,
                    'map_frame': 'map',
                    'odom_frame': 'odom',
                    'base_frame': 'base_link',
                    'input_left_camera_frame': 'camera_left_link',
                    'input_right_camera_frame': 'camera_right_link',
                    'input_imu_frame': 'imu_link',
                    'enable_imu_fusion': True,
                    'gyro_noise_density': 0.002199655,
                    'gyro_random_walk': 0.000126170484,
                    'accel_noise_density': 0.045575688,
                    'accel_random_walk': 0.0014619180459647332,
                    'calibration_frequency': 200.0,
                    'img_jitter_threshold_ms': 46.00
                    }],
        remappings=[('stereo_camera/left/image', '/imsee/image_rect/left'),
                    ('stereo_camera/left/camera_info', '/imsee/image_rect/left_info'),
                    ('stereo_camera/right/image', '/imsee/image_rect/right'),
                    ('stereo_camera/right/camera_info', '/imsee/image_rect/right_info'),
                    ('visual_slam/imu', '/imsee/imu')]
    )

    visual_slam_launch_container = ComposableNodeContainer(
        name='visual_slam_launch_container',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
            visual_slam_node
        ],
        output='screen'
    )
 
    return launch.LaunchDescription([visual_slam_launch_container])