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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/tests/test_odometry_FAST.launch
+4 -9
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@@ -1,11 +1,6 @@
<launch>
<!-- 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" />
@@ -14,7 +9,7 @@
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="camera/rgb/image_color"/>
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
<remap from="odom_in" to="odom"/>
@@ -32,13 +27,13 @@
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="queue_size" type="int" value="30"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
<!-- 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"/>
<remap from="odom" to="odom"/>