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https://github.com/introlab/rtabmap_ros.git
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35 lines
1.3 KiB
XML
35 lines
1.3 KiB
XML
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<launch>
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<!-- Nodes -->
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<node name="camera" pkg="rtabmap_image" type="camera" output="screen">
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<remap from="camera/image" to="image"/>
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<param name="device_id" value="0" type="int"/>
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<param name="image_hz" value="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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<node name="visual_attention" pkg="rtabmap" type="visual_attention" output="screen"/>
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<!--
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<node name="image" pkg="rtabmap_image" type="image_view_qt" output="screen">
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<remap from="image" to="image"/>
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</node>
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-->
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<node name="image_motion" pkg="rtabmap_image" type="image_view_qt" output="screen">
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<remap from="image" to="image_motion"/>
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</node>
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<node name="image_motion_local" pkg="rtabmap_image" type="image_view_qt" output="screen">
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<remap from="image" to="image_motion_local"/>
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</node>
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<node name="image_local" pkg="rtabmap_image" type="image_view_qt" output="screen">
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<remap from="image" to="image_local"/>
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</node>
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<node name="image_motion_local_polar" pkg="rtabmap_image" type="image_view_qt" output="screen">
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<remap from="image" to="image_motion_local_polar"/>
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</node>
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<node name="image_motion_local_polar_reconstructed" pkg="rtabmap_image" type="image_view_qt" output="screen">
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<remap from="image" to="image_motion_local_polar_reconstructed"/>
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</node>
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</launch>
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