2013-12-11 00:12:44 +00:00
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<launch>
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<!-- record data to RTAB-Map database format (like a ROS bag, but usable in RTAB-Map for Windows/Mac OS X) -->
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<!-- This demo works with demo_mapping.bag -->
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<param name="use_sim_time" type="bool" value="True"/>
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2014-11-25 17:43:26 -05:00
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<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
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2013-12-11 00:12:44 +00:00
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<param name="output_file_name" value="output.db" type="string"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_odometry" type="bool" value="true"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<remap from="odom" to="/az3/base_controller/odom"/>
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<remap from="scan" to="/jn0/base_scan"/>
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<remap from="rgb/image" to="data_throttled_image"/>
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<remap from="depth/image" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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<param name="queue_size" type="int" value="10"/>
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</node>
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</launch>
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