mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
43 lines
1.8 KiB
XML
43 lines
1.8 KiB
XML
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<launch>
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<param name="use_sim_time" value="true"/>
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<group ns="stereo_camera">
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<node pkg="rtabmap_ros" type="yaml_to_camera_info.py" name="yaml_to_camera_info_left">
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<param name="yaml_path" value="$(find rtabmap_ros)/launch/calibration/euroc_left.yaml"/>
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<remap from="image" to="/cam0/image_raw"/>
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<remap from="camera_info" to="left/camera_info"/>
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</node>
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<node pkg="rtabmap_ros" type="yaml_to_camera_info.py" name="yaml_to_camera_info_right">
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<param name="yaml_path" value="$(find rtabmap_ros)/launch/calibration/euroc_right.yaml"/>
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<remap from="image" to="/cam1/image_raw"/>
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<remap from="camera_info" to="right/camera_info"/>
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</node>
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
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<remap from="left/image_raw" to="/cam0/image_raw"/>
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<remap from="right/image_raw" to="/cam1/image_raw"/>
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</node>
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</group>
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<node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="0.009811 0.064677 -0.021640 -1.596576 -0.014866 -1.566656 base_link cam0 100"/>
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<node pkg="tf" type="static_transform_publisher" name="leica_base_link" args="0.120209 -0.0184772 -0.0748903 0 0 0 leica base_link_gt 100"/>
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<node pkg="rtabmap_ros" type="point_to_tf.py" name="point_to_tf">
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<remap from="point" to="/leica/position"/>
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<param name="frame_id" value="leica"/>
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<param name="fixed_frame_id" value="world"/>
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</node>
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<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg name="rtabmap_args" value="--delete_db_on_start --RGBD/CreateOccupancyGrid false --Rtabmap/DetectionRate 1"/>
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<arg name="stereo" value="true"/>
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<arg name="frame_id" value="base_link"/>
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<arg name="ground_truth_frame_id" value="world"/>
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<arg name="ground_truth_base_frame_id" value="base_link_gt"/>
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</include>
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</launch>
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