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Updated Camera usage:

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-now using uvc_camera (OpenCV capture is no longer supported in ROS : https://code.ros.org/trac/ros-pkg/ticket/4980)
-Added image_rate parameter in imageToSensorimotorState

Fixed synchronization in InputNode, between image (1Hz) and actions (10Hz)
Updated launch files

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@306 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-08-23 15:36:43 +00:00
parent b3c49ce59d
commit 259c8ec7a5
19 changed files with 344 additions and 262 deletions
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rtabmap/launch/rtabmap_sm.launch
+8 -9
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@@ -2,10 +2,6 @@
<!-- RTAB-MAP SENSORY-MOTOR VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- image_to_sm parameters -->
<param name="resize_image_width" value="640" type="int"/>
<param name="resize_image_height" value="480" type="int"/>
<!-- Nodes -->
<!-- cmd_vel_a has priority on cmd_vel_b -->
@@ -28,13 +24,16 @@
</node>
<node name="rtabmap_input" pkg="rtabmap" type="input_node">
<remap from="cmd_vel" to="cmd_vel" />
<remap from="sm_state" to="sm_state" />
<remap from="camera_data" to="camera_data" />
<remap from="/cmd_vel" to="/cmd_vel" />
<remap from="/sm_state" to="/sm_state" />
<remap from="/camera_data" to="/camera_data" />
</node>
<node name="image_to_sms" pkg="rtabmap" type="image_to_sms_node">
<remap from="image" to="image" />
<remap from="sm_state" to="camera_data" />
<param name="image_rate" value="1" type="int"/>
<param name="resize_image_width" value="640" type="int"/>
<param name="resize_image_height" value="480" type="int"/>
<remap from="/image_raw" to="/image_raw" />
<remap from="/sm_state" to="/camera_data" />
</node>
</launch>