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<launch>
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
<!-- a relay on this machine, same for images -->
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<node name= "mapData_relay" type= "relay" pkg= "topic_tools" args= "/rtabmap/mapData_optimized /rtabmap/mapData_relay" />
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<node name= "camera_info_relay" type= "relay" pkg= "topic_tools" args= "/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay" />
<node name= "republish_rgb" type= "republish" pkg= "image_transport" args= "theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
<node name= "republish_depth" type= "republish" pkg= "image_transport" args= "compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
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<node pkg= "rviz" type= "rviz" name= "rviz" args= "-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz" />
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<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
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<node pkg= "nodelet" type= "nodelet" name= "points_xyzrgb" args= "standalone rtabmap_ros/point_cloud_xyzrgb" >
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<remap from= "rgb/image" to= "/camera/data_throttled_image_relay" />
<remap from= "depth/image" to= "/camera/data_throttled_image_depth_relay" />
<remap from= "rgb/camera_info" to= "/camera/data_throttled_camera_info_relay" />
<remap from= "cloud" to= "voxel_cloud" />
<param name= "queue_size" type= "int" value= "10" />
<param name= "voxel_size" type= "double" value= "0.01" />
</node>
</launch>
