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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/testCamera.launch
+9 -7
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@@ -1,11 +1,13 @@
<launch>
<!-- Camera parameters -->
<param name="cam/device_id" value="0" type="int"/>
<param name="cam/image_rate" value="10" type="int"/>
<param name="cam/image_width" value="640" type="int"/>
<param name="cam/image_height" value="480" type="int"/>
<!-- Nodes -->
<node name="cameraReceiver" pkg="rtabmap" type="camera_node_receiver" output="screen"/>
<node name="camera" pkg="rtabmap" type="camera_node"/>
<node pkg="uvc_camera" type="camera_node" name="uvc_camera" output="screen">
<param name="width" type="int" value="640" />
<param name="height" type="int" value="480" />
<param name="fps" type="int" value="30" />
<param name="frame" type="string" value="wide_stereo" />
<param name="device" type="string" value="/dev/video0" />
<!-- <param name="camera_info_url" type="string" value="file://$(find uvc_camera)/example.yaml" /> -->
</node>
</launch>