mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
54 lines
2.3 KiB
XML
54 lines
2.3 KiB
XML
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<launch>
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<!-- Kinect: -->
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<include file="$(find freenect_launch)/launch/freenect.launch">
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<arg name="depth_registration" value="true" />
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</include>
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<arg name="frame_id" default="camera_link"/>
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<arg name="rtabmap_args" default="--delete_db_on_start"/> <!-- delete_db_on_start, udebug -->
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<arg name="odom_args" default="$(arg rtabmap_args)"/>
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<!-- RGB-D related topics -->
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<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
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<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
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<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
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<group ns="camera">
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<!-- Use RGBD synchronization -->
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<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager">
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="depth/image" to="$(arg depth_topic)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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</node>
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<!-- RGB-D Odometry -->
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<node pkg="nodelet" type="nodelet" name="rgbd_odometry" args="load rtabmap_ros/rgbd_odometry camera_nodelet_manager $(arg odom_args)">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="keep_color" type="bool" value="true"/>
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</node>
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<!-- RTAB-Map -->
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<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" args="$(arg rtabmap_args)" output="screen">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<remap from="rgbd_image" to="odom_rgbd_image"/>
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</node>
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<!-- Visualisation -->
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<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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</node>
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</group>
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</launch>
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