mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
50 lines
1.8 KiB
XML
50 lines
1.8 KiB
XML
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<!--
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Copyright 2016 The Cartographer Authors
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<launch>
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<param name="/use_sim_time" value="true" />
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<!-- copy provided pr2.lua in $(find cartographer_ros)/configuration_files to use odometry as guess -->
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<node name="cartographer_node" pkg="cartographer_ros"
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type="cartographer_node" args="
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-configuration_directory
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$(find cartographer_ros)/configuration_files
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-configuration_basename pr2.lua"
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output="screen">
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<remap from="scan" to="/base_scan_t_filtered" /> <!-- /base_scan_t /base_scan_t_filtered /camera_scan -->
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<remap from="odom" to="/odom_combined" />
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</node>
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<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
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type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
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<node name="tf_remove_frames" pkg="cartographer_ros"
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type="tf_remove_frames.py">
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<remap from="tf_out" to="/tf" />
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<rosparam param="remove_frames">
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- map
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- odom_combined
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</rosparam>
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</node>
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<node name="rviz" pkg="rviz" type="rviz" required="true"
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args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
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<node name="playbag" pkg="rosbag" type="play"
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args="--clock $(arg bag_filename)">
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<remap from="tf" to="tf_in" />
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</node>
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</launch>
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