2014-07-02 15:43:28 +00:00
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<launch>
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2014-07-14 13:57:10 +00:00
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<!-- Remote teleop -->
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<include file="$(find az3_bringup)/joystick.launch"/>
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2014-07-02 15:43:28 +00:00
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<!-- Visualisation (client side) -->
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2014-07-02 19:19:13 +00:00
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<group ns="rtabmap">
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<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
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2014-08-12 19:19:07 +00:00
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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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2014-07-02 15:43:28 +00:00
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<param name="queue_size" type="int" value="10"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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2014-07-02 19:19:13 +00:00
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<remap from="rgb/image" to="/camera/data_throttled_image"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
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2014-07-02 15:43:28 +00:00
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<remap from="scan" to="/base_scan"/>
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<remap from="odom" to="/base_controller/odom"/>
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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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2014-07-02 19:19:13 +00:00
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</node>
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</group>
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2014-07-02 15:43:28 +00:00
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</launch>
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