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21 lines
838 B
XML
21 lines
838 B
XML
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<launch>
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<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
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<remap from="rgb/image" to="camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
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<remap from="cloud" to="/voxel_cloud" />
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<param name="queue_size" type="int" value="30"/>
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<param name="voxel_size" type="double" value="0.02"/>
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<param name="decimation" type="int" value="2"/>
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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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</node>
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</launch>
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