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Added new arguments (approximate_sync for stereo, rtabmapviz_cfg and rviz_cfg) to main launch files

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matlabbe
2015-08-07 13:00:32 -04:00
parent 033aecfe63
commit 091bf0b7be
3 changed files with 37 additions and 21 deletions
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launch/rgbd_mapping.launch
+6 -2
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@@ -9,6 +9,10 @@
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<!-- Corresponding config files -->
<arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="time_threshold" default="0"/> <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
<arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
@@ -84,7 +88,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen" launch-prefix="$(arg launch_prefix)">
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
@@ -100,7 +104,7 @@
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">