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Fixed launch files for openni2 camera (Xtion PRO Live working)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1078 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-13 22:18:27 +00:00
parent b9b175443a
commit 26a5997e24
6 changed files with 19 additions and 49 deletions
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rtabmap/launch/rgbd_localization.launch
+4 -9
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@@ -2,19 +2,14 @@
<launch>
<!-- RGB-D LOCALIZATION VERSION -->
<!-- Kinect -->
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="depth_registration" value="True" />
</include>
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
<!-- Odometry -->
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="camera/rgb/image_color"/>
<remap from="rgb/image" to="camera/rgb/image_rect_color"/>
<remap from="depth/image" to="camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
@@ -33,7 +28,7 @@
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="odom" to="/odom"/>
@@ -54,7 +49,7 @@
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
<remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="odom" to="/odom"/>