mirror of
https://github.com/introlab/rtabmap_ros.git
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63 lines
2.4 KiB
XML
63 lines
2.4 KiB
XML
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<launch>
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<!-- BRING UP AZIMUT3 -->
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<include file="$(find az3_bringup)/az3_base_controller.launch"/>
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<!-- TELEOP JOYSTICK -->
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<node name="teleop_pr2" pkg="pr2_teleop" type="teleop_pr2" args="--deadman_no_publish">
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<remap from="cmd_vel" to="user/cmd_vel" />
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</node>
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<node name="joystick" pkg="joy" type="joy_node">
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<param name="autorepeat_rate" value="20" type="double" />
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</node>
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<!-- RTAB-MAP SENSORY-MOTOR VERSION -->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<!-- cmd_vel_a has priority on cmd_vel_b -->
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<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity">
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<param name="commands_hz" value="10.0" type="double"/>
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<param name="cmd_vel_a_buffered" value="false" type="bool"/>
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<remap from="cmd_vel_a" to="user/cmd_vel" />
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<remap from="cmd_vel_b" to="rtabmap/cmd_vel" />
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<remap from="cmd_vel" to="az3/base_controller/cmd_vel" />
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</node>
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<node name="rtabmap_out" pkg="rtabmap" type="rtabmap_out">
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<param name="commands_hz" value="10.0" type="double"/>
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<param name="idle_null_commands_sent" value="false" type="bool"/>
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<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
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<remap from="rtabmap/info" to="rtabmap/info" />
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<remap from="rtabmap/info_x" to="rtabmap/info_x" />
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</node>
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<node name="twist_to_poses" pkg="rtabmap" type="twist_to_poses">
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<remap from="cmd_vel" to="az3/base_controller/cmd_vel" />
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</node>
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<remap from="sm_state" to="sm_state" />
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<remap from="rtabmap/info" to="rtabmap/info" />
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<remap from="rtabmap/info_x" to="rtabmap/info_x" />
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</node>
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<node name="rtabmap_in" pkg="rtabmap" type="rtabmap_in">
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<param name="nb_commands" value="2" type="int"/>
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<remap from="cmd_vel" to="az3/base_controller/cmd_vel" />
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<remap from="sm_state" to="sm_state" />
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<remap from="sensor_data" to="sensor_data" />
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</node>
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<node name="image_to_sms" pkg="rtabmap" type="image_to_sms">
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<param name="image_hz" value="5.0" type="double"/>
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<param name="resize_image_width" value="80" type="int"/>
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<param name="resize_image_height" value="60" type="int"/>
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<param name="keypoints_extracted" value="0" type="int"/>
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<remap from="image" to="camera/image" />
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<remap from="sm_state" to="sensor_data" />
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</node>
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</launch>
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