mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
30 lines
1.2 KiB
XML
30 lines
1.2 KiB
XML
|
<launch>
|
||
|
|
|
||
|
|
<!-- Use stereo_outdoorA.bag for testing -->
|
||
|
|
<arg name="optimize_for_close_objects" default="false" />
|
||
|
|
|
||
|
|
<include file="$(find rtabmap_ros)/launch/demo/demo_stereo_outdoor.launch"/>
|
||
|
|
|
||
|
|
<group ns="/stereo_camera" >
|
||
|
|
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_ros/point_cloud_xyz stereo_nodelet">
|
||
|
|
<remap from="disparity/image" to="disparity"/>
|
||
|
|
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
|
||
|
|
<remap from="cloud" to="cloudXYZ"/>
|
||
|
|
|
||
|
|
<param name="voxel_size" type="double" value="0.05"/>
|
||
|
|
<param name="decimation" type="int" value="4"/>
|
||
|
|
<param name="max_depth" type="double" value="4"/>
|
||
|
|
</node>
|
||
|
|
|
||
|
|
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection stereo_nodelet">
|
||
|
|
<remap from="cloud" to="cloudXYZ"/>
|
||
|
|
|
||
|
|
<param name="frame_id" type="string" value="base_footprint"/>
|
||
|
|
<param name="wait_for_transform" type="bool" value="true"/>
|
||
|
|
<param name="min_cluster_size" type="int" value="20"/>
|
||
|
|
<param name="max_obstacles_height" type="double" value="0.0"/>
|
||
|
|
<param name="optimize_for_close_objects" type="bool" value="$(arg optimize_for_close_objects)"/>
|
||
|
|
</node>
|
||
|
|
</group>
|
||
|
|
|
||
|
|
</launch>
|