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14 lines
560 B
XML
14 lines
560 B
XML
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<launch>
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<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
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<!-- Camera parameters -->
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<param name="device_id" value="0" type="int"/>
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<param name="image_rate" value="1" type="int"/>
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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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<!-- Nodes -->
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<node name="rtabmap_core" pkg="rtabmap" type="core_node"/>
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<node name="rtabmap_gui" pkg="rtabmap" type="gui_node"/>
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<node name="image_to_sms" pkg="rtabmap" type="image_to_sms_node"/>
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<node name="camera" pkg="rtabmap" type="camera_node"/>
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</launch>
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