mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
38 lines
1.6 KiB
XML
38 lines
1.6 KiB
XML
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<launch>
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<!-- rosbag record camera/data_throttled_image/compressed camera/data_throttled_image_depth/compressedDepth camera/data_throttled_camera_info tf base_scan /base_controller/odom -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<include file="$(find az3_bringup)/joystick.launch"/>
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<!-- OpenNI -->
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<!-- Xtion -->
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<include file="$(find openni2_launch)/launch/openni2.launch">
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<arg name="depth_registration" value="True" />
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<arg name="rgb_camera_info_url"
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value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
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<arg name="depth_camera_info_url"
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value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
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</include>
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<!-- Xtion frame -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
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<!-- Throttling messages -->
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
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<param name="max_rate" type="double" value="10.0"/>
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<remap from="rgb/image_in" to="rgb/image_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
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<remap from="rgb/image_out" to="/data_throttled_image"/>
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<remap from="depth/image_out" to="/data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="/data_throttled_camera_info"/>
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</node>
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</group>
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</launch>
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