mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
31 lines
1004 B
XML
31 lines
1004 B
XML
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<launch>
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<!-- BRING UP TELEROBOT -->
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<!-- BUS CAN MANAGER -->
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<group ns="tr">
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<param name="driver_type" value="TRCANDriver"/>
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<node name="can_manager" type="can_manager" pkg="can_manager"
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args="tr">
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<remap from="/tr/tr/cmd_vel" to="/cmd_vel" />
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</node>
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</group>
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<!-- TELEOP -->
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<include file="$(find rtabmap)/launch/teleop.launch"/>
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<!-- RTAB-MAP -->
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<include file="$(find rtabmap)/launch/rtabmap_sm.launch"/>
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<!-- CAMERA -->
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<node pkg="omni_camera_capture" type="omni_publisher"
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name="omni_camera" respawn="false">
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<param name="device" value="/dev/video0"/>
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<param name="refresh_rate" value="2"/>
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<param name="frame_id" value="omni_camera_link" />
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<param name="image_encoding" value="RGB" /> <!-- GREY or RGB-->
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<param name="image_size" value="FULL" /> <!-- PARTIAL or FULL -->
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<param name="scale_divisor" value="1" /> <!-- 1, 2, 3, 4 or 6 in PARTIAL size-->
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<remap from="/image" to="/image_raw" />
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</node>
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</launch>
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