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17 lines
594 B
XML
17 lines
594 B
XML
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<launch>
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<!-- Nodes -->
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<node name="camera_receiver" pkg="rtabmap" type="camera_receiver" output="screen">
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<remap from="image" to="camera/image"/>
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<remap from="image/compressed" to="camera/image/compressed"/>
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<param name="image_transport" value="raw" type="str"/>
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</node>
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<!-- Nodes -->
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<node name="camera" pkg="rtabmap" type="camera" output="screen">
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<param name="device_id" value="0" type="int"/>
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<param name="image_hz" value="30.0" type="double"/>
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<param name="image_width" value="640" type="int"/>
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<param name="image_height" value="480" type="int"/>
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</node>
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</launch>
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