slam-navigation.launch

<launch>
    <arg name="with_path_finding" default="true" />
    <arg name="with_camera" default="true" />
    <include if="$(arg with_camera)" file="$(find realsense_tools)/launch/rs_camera.launch"></include>

    <!-- Set sim time if not using camera -->
    <param name="/use_sim_time" value="true" unless="$(arg with_camera)" />
    <param name="/use_sim_time" value="false" if="$(arg with_camera)" />


    <node pkg="imu_filter_madgwick" type="imu_filter_node" name="ImuFilter">
        <param name="use_mag" type="bool" value="false" />
        <param name="publish_tf" type="bool" value="false" />
        <param name="world_frame" type="string" value="enu" />
        <remap from="/imu/data_raw" to="/camera/imu" />
    </node>

    <include file="$(find mapping)/launch/rtabmap.launch">
        <arg name="args" value="--delete_db_on_start"/>
        <arg name="rgb_topic" value="/camera/color/image_raw"/>
        <arg name="depth_topic" value="/camera/aligned_depth_to_color/image_raw"/>
        <arg name="camera_info_topic" value="/camera/color/camera_info"/>
        <arg name="depth_camera_info_topic" value="/camera/depth/camera_info"/>
        <arg name="rtabmapviz" value="false"/>
        <arg name="rviz" value="true"/>
        <arg name="queue_size" value="10" /> 
        <arg name="cfg" value="$(find mapping)/launch/rtabmap/rtabmap.ini"/>
    </include>

    <include file="$(find robot_localization)/launch/ukf_template.launch" />
    <param name="/ukf_se/frequency" value="30" />
    <param name="/ukf_se/base_link_frame" value="camera_link" />
    <param name="/ukf_se/odom0" value="rtabmap/odom" />
    <rosparam param="/ukf_se/odom0_config">[true,true,true,
                                            true,true,true,
                                            true,true,true,
                                            true,true,true,
                                            false,false,false]
    </rosparam>
    <param name="/ukf_se/odom0_relative" value="true"/>
    <param name="/ukf_se/odom0_differential" value="false"/>
    <param name="/ukf_se/use_control" value="false"/>
    <param name="/ukf_se/imu0" value="/imu/data"/>
    <rosparam param="/ukf_se/imu0_config">[false, false, false,
                                            true, true, true,
                                            false, false, false,
                                            true, true, true,
                                            true, true, true]</rosparam>
    <param name="/ukf_se/imu0_differential" value="true"/>
    <param name="/ukf_se/imu0_relative" value="false"/>


    <include if="$(arg with_path_finding)" file="$(find path_finding)/launch/path_finding.launch"></include>

</launch>