update realsense examples for ros2 (#1224)

* update realsense examples * Modifiying realsense2 namespace instead. * single quote str --------- Co-authored-by: matlabbe <[email protected]>
introlab · Oct 17, 2024 · c83cff1 · c83cff1
1 parent ad97f56
commit c83cff1
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Showing 3 changed files with 9 additions and 8 deletions.
diff --git a/rtabmap_examples/launch/realsense_d435i_color.launch.py b/rtabmap_examples/launch/realsense_d435i_color.launch.py
@@ -2,8 +2,6 @@
 #   A realsense D435i
 #   Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
 # Example:
-#   $ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=1 enable_sync:=true
-#
 #   $ ros2 launch rtabmap_examples realsense_d435i_color.launch.py
 
 import os
@@ -39,9 +37,10 @@ def generate_launch_description():
             PythonLaunchDescriptionSource([os.path.join(
                 get_package_share_directory('realsense2_camera'), 'launch'),
                 '/rs_launch.py']),
-                launch_arguments={'enable_gyro': 'true',
+                launch_arguments={'camera_namespace': '',
+                                  'enable_gyro': 'true',
                                   'enable_accel': 'true',
-                                  'unite_imu_method': '1',
+                                  'unite_imu_method': '2',
                                   'align_depth.enable': 'true',
                                   'enable_sync': 'true',
                                   'rgb_camera.profile': '640x360x30'}.items(),

diff --git a/rtabmap_examples/launch/realsense_d435i_infra.launch.py b/rtabmap_examples/launch/realsense_d435i_infra.launch.py
@@ -37,9 +37,10 @@ def generate_launch_description():
             PythonLaunchDescriptionSource([os.path.join(
                 get_package_share_directory('realsense2_camera'), 'launch'),
                 '/rs_launch.py']),
-                launch_arguments={'enable_gyro': 'true',
+                launch_arguments={'camera_namespace': '',
+                                  'enable_gyro': 'true',
                                   'enable_accel': 'true',
-                                  'unite_imu_method': '1',
+                                  'unite_imu_method': '2',
                                   'enable_infra1': 'true',
                                   'enable_infra2': 'true',
                                   'enable_sync': 'true'}.items(),

diff --git a/rtabmap_examples/launch/realsense_d435i_stereo.launch.py b/rtabmap_examples/launch/realsense_d435i_stereo.launch.py
@@ -37,9 +37,10 @@ def generate_launch_description():
             PythonLaunchDescriptionSource([os.path.join(
                 get_package_share_directory('realsense2_camera'), 'launch'),
                 '/rs_launch.py']),
-                launch_arguments={'enable_gyro': 'true',
+                launch_arguments={'camera_namespace': '',
+                                  'enable_gyro': 'true',
                                   'enable_accel': 'true',
-                                  'unite_imu_method': '1',
+                                  'unite_imu_method': '2',
                                   'enable_infra1': 'true',
                                   'enable_infra2': 'true',
                                   'enable_sync': 'true'}.items(),