From 0bcc0bd39dd39cfba4c4618301a9b8eefc9a8cc3 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Wed, 16 Jul 2014 03:14:14 +0000
Subject: [PATCH] removed odom_sync nodes from azimut3 rviz launch files

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1582 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/azimut3/az3_mapping_client_rviz.launch | 29 +++++------------
 launch/azimut3/az3_remote_mapping_rviz.launch | 31 ++++---------------
 2 files changed, 14 insertions(+), 46 deletions(-)

diff --git a/launch/azimut3/az3_mapping_client_rviz.launch b/launch/azimut3/az3_mapping_client_rviz.launch
index b484d402..ca048356 100644
--- a/launch/azimut3/az3_mapping_client_rviz.launch
+++ b/launch/azimut3/az3_mapping_client_rviz.launch
@@ -17,30 +17,17 @@
     
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
   
-  <!-- Below, construct point cloud of the latest throttled data, disabled for bandwith efficiency -->
-  <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) 
+  <!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
+<!--
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
-  <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
-    <remap from="rgb/image_in"       to="/camera/data_throttled_image"/>
-    <remap from="depth/image_in"     to="/camera/data_throttled_image_depth"/>
-    <remap from="rgb/camera_info_in" to="/camera/data_throttled_camera_info"/>
-    <remap from="odom_in"             to="/base_controller/odom"/>
-    
-    <remap from="rgb/image_out"       to="data_odom_sync/image"/>
-    <remap from="depth/image_out"     to="data_odom_sync/depth"/>
-    <remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
-    <remap from="odom_out"            to="odom_sync"/>
-
-    <param name="rgb/image_transport" type="string" value="compressed"/>
-    <param name="depth/image_transport" type="string" value="compressedDepth"/>
-    
-    <param name="queue_size" type="int" value="30"/>
-  </node>
   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
-    <remap from="rgb/image"       to="data_odom_sync/image"/>
-    <remap from="depth/image"     to="data_odom_sync/depth"/>
-    <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
+    <remap from="rgb/image"       to="/camera/data_throttled_image"/>
+    <remap from="depth/image"     to="/camera/data_throttled_image_depth"/>
+    <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
     <remap from="cloud"           to="voxel_cloud" />
+
+    <param name="rgb/image_transport" type="string" value="theora"/>
+    <param name="depth/image_transport" type="string" value="compressedDepth"/>
     
     <param name="queue_size" type="int" value="10"/>
     <param name="voxel_size" type="double" value="0.01"/>
diff --git a/launch/azimut3/az3_remote_mapping_rviz.launch b/launch/azimut3/az3_remote_mapping_rviz.launch
index ea458654..8a11fe1f 100644
--- a/launch/azimut3/az3_remote_mapping_rviz.launch
+++ b/launch/azimut3/az3_remote_mapping_rviz.launch
@@ -5,15 +5,9 @@
   <include file="$(find az3_bringup)/joystick.launch"/> 
   
   <!-- Visualization and SLAM nodes use same data, so just subscribe once and relay messages -->
-  <node name="odom_relay" type="relay" pkg="topic_tools" args="/base_controller/odom /base_controller/odom_relay" >
-    <param name="lazy" type="bool" value="false"/>
-  </node>
-  <node name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay" >
-    <param name="lazy" type="bool" value="false"/>
-  </node>
-  <node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay" >
-    <param name="lazy" type="bool" value="false"/>
-  </node>
+  <node name="odom_relay" type="relay" pkg="topic_tools" args="/base_controller/odom /base_controller/odom_relay"/>
+  <node name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay"/>
+  <node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
   <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
   <node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
   
@@ -61,23 +55,10 @@
   
   <!-- Below, construct point cloud of the latest throttled data -->
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
-  <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
-    <remap from="rgb/image_in"       to="/camera/data_throttled_image_relay"/>
-    <remap from="depth/image_in"     to="/camera/data_throttled_image_depth_relay"/>
-    <remap from="rgb/camera_info_in" to="/camera/data_throttled_camera_info_relay"/>
-    <remap from="odom_in"             to="/base_controller/odom_relay"/>
-    
-    <remap from="rgb/image_out"       to="data_odom_sync/image"/>
-    <remap from="depth/image_out"     to="data_odom_sync/depth"/>
-    <remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
-    <remap from="odom_out"            to="odom_sync"/>
-    
-    <param name="queue_size" type="int" value="30"/>
-  </node>
   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
-    <remap from="rgb/image"       to="data_odom_sync/image"/>
-    <remap from="depth/image"     to="data_odom_sync/depth"/>
-    <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
+    <remap from="rgb/image"       to="/camera/data_throttled_image_relay"/>
+    <remap from="depth/image"     to="/camera/data_throttled_image_depth_relay"/>
+    <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
     <remap from="cloud"           to="voxel_cloud" />
     
     <param name="queue_size" type="int" value="10"/>