mirror of
https://github.com/introlab/rtabmap_ros.git
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30 lines
1.2 KiB
XML
30 lines
1.2 KiB
XML
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<launch>
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<param name="use_sim_time" value="true"/>
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<group ns="/wide_stereo" >
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<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
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<remap from="left/image" to="left/image_raw"/>
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<remap from="right/image" to="right/image_raw"/>
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<remap from="left/camera_info" to="left/camera_info"/>
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<remap from="right/camera_info" to="right/camera_info"/>
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<param name="queue_size" type="int" value="10"/>
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<param name="rate" type="double" value="15"/>
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</node>
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</group>
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="standalone rtabmap_ros/data_throttle">
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<param name="rate" type="double" value="15.0"/>
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<remap from="rgb/image_in" to="rgb/image_raw"/>
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<remap from="depth/image_in" to="depth/image_raw"/>
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<remap from="rgb/camera_info_in" to="rgb/camera_info"/>
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<remap from="rgb/image_out" to="rgb/image_raw_throttle"/>
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<remap from="depth/image_out" to="depth/image_raw_throttle"/>
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<remap from="rgb/camera_info_out" to="rgb/camera_info_throttle"/>
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</node>
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</group>
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</launch>
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