mirror of
https://github.com/introlab/rtabmap_ros.git
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20 lines
761 B
XML
20 lines
761 B
XML
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<launch>
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<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start"/>
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<node name="rtabmap_gui" pkg="rtabmap" type="rtabmap_gui" output="screen"/>
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<node name="camera" pkg="rtabmap" type="camera" output="screen">
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<remap from="/camera/image" to="/image"/>
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<param name="device_id" value="0" type="int"/>
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<param name="image_hz" value="1.0" type="double"/>
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<param name="image_width" value="640" type="int"/>
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<param name="image_height" value="480" type="int"/>
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</node>
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</launch>
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