mirror of
https://github.com/introlab/rtabmap_ros.git
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32 lines
1.2 KiB
XML
32 lines
1.2 KiB
XML
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<launch>
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<!-- Nodes -->
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<node name="camera" pkg="rtabmap_image" type="camera" output="screen">
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<remap from="camera/image" to="image"/>
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<param name="device_id" value="0" type="int"/>
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<param name="image_hz" value="0" type="double"/>
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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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</node>
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<node name="rgb2ind" pkg="rtabmap_image" type="rgb2ind"/>
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<node name="xy2polar" pkg="rtabmap_image" type="xy2polar"/>
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<node name="motion_filter" pkg="rtabmap_image" type="motion_filter"/>
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<!-- Create some image_view_qt to see images -->
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<node name="view_indexed" pkg="rtabmap_image" type="image_view_qt">
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<remap from="image" to="image_indexed"/>
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</node>
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<node name="view_polar" pkg="rtabmap_image" type="image_view_qt">
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<remap from="image" to="image_polar"/>
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</node>
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<node name="view_polar_reconstructed" pkg="rtabmap_image" type="image_view_qt">
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<remap from="image" to="image_polar_reconstructed"/>
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</node>
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<node name="view_motion" pkg="rtabmap_image" type="image_view_qt">
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<remap from="image" to="image_motion_filtered"/>
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</node>
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<!-- pop up a dynamic reconfigure -->
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<node name="dynamic_reconfigure" pkg="dynamic_reconfigure" type="reconfigure_gui"/>
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</launch>
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