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Added launch_prefix arg to rgbd_mapping.launch file for debugging purpose

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matlabbe
2015-08-07 10:12:34 -04:00
parent c2bcb69c27
commit 033aecfe63
1 changed files with 4 additions and 3 deletions
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launch/rgbd_mapping.launch
+4 -3
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@@ -14,6 +14,7 @@
<arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set --> <arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
<arg name="database_path" default="~/.ros/rtabmap.db"/> <arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug --> <arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" /> <arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" /> <arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" />
@@ -39,7 +40,7 @@
<group ns="$(arg namespace)"> <group ns="$(arg namespace)">
<!-- Odometry --> <!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen"> <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic)"/> <remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_registered_topic)"/> <remap from="depth/image" to="$(arg depth_registered_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -58,7 +59,7 @@
</node> </node>
<!-- Visual SLAM (robot side) --> <!-- Visual SLAM (robot side) -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/> <param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/> <param name="frame_id" type="string" value="$(arg frame_id)"/>
@@ -83,7 +84,7 @@
</node> </node>
<!-- Visualisation RTAB-Map --> <!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen"> <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/> <param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/> <param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>