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removed odom_sync nodes from azimut3 rviz launch files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1582 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-16 03:14:14 +00:00
parent f38a53291a
commit 0bcc0bd39d
2 changed files with 14 additions and 46 deletions
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launch/azimut3/az3_mapping_client_rviz.launch
+8 -21
View File
@@ -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"/>
launch/azimut3/az3_remote_mapping_rviz.launch
+6 -25
View File
@@ -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"/>