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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_kinect2.launch
+6 -2
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@@ -24,6 +24,10 @@
<!-- Choose visualization -->
<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 $(find rtabmap_ros)/launch/config/rgbd.rviz" />
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
@@ -87,7 +91,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="true"/>
@@ -101,7 +105,7 @@
</group>
<!-- Visualization RVIZ -->
<node if="$(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">