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demo_two_kinects.launch: fixed rgbd_odomerty not correctly subscribed to rgbd_image topics

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matlabbe
2016-11-28 13:14:35 -05:00
parent 295ae0cee0
commit 19eb9cb836
1 changed files with 3 additions and 1 deletions
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launch/demo/demo_two_kinects.launch
+3 -1
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@@ -15,7 +15,7 @@
<arg name="device_id" value="#2" /> <arg name="device_id" value="#2" />
</include> </include>
<!-- Frames: Kinects are placed at 90 degrees --> <!-- Frames: Kinects are placed at 90 degrees, clockwise -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf" <node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera1_link 100" /> args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera1_link 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_camera2_tf" <node pkg="tf" type="static_transform_publisher" name="base_to_camera2_tf"
@@ -70,6 +70,7 @@
<remap from="rgbd_image0" to="/camera1/rgbd_image"/> <remap from="rgbd_image0" to="/camera1/rgbd_image"/>
<remap from="rgbd_image1" to="/camera2/rgbd_image"/> <remap from="rgbd_image1" to="/camera2/rgbd_image"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_link"/> <param name="frame_id" type="string" value="base_link"/>
<param name="rgbd_cameras" type="int" value="2"/> <param name="rgbd_cameras" type="int" value="2"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/> <param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
@@ -92,6 +93,7 @@
<param name="frame_id" type="string" value="base_link"/> <param name="frame_id" type="string" value="base_link"/>
<param name="gen_scan" type="bool" value="true"/> <param name="gen_scan" type="bool" value="true"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/> <param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="map_negative_poses_ignored" type="bool" value="true"/>
<remap from="rgbd_image0" to="/camera1/rgbd_image"/> <remap from="rgbd_image0" to="/camera1/rgbd_image"/>
<remap from="rgbd_image1" to="/camera2/rgbd_image"/> <remap from="rgbd_image1" to="/camera2/rgbd_image"/>