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Update rtabmap.launch

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matlabbe
2016-11-09 15:04:22 -05:00
committed by GitHub
parent c15f81e71a
commit 2c326714ec
1 changed files with 2 additions and 2 deletions
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launch/rtabmap.launch
+2 -2
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@@ -27,7 +27,7 @@
<!-- Corresponding config files --> <!-- Corresponding config files -->
<arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app --> <arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" /> <arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" /> <arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published --> <arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="namespace" default="rtabmap"/> <arg name="namespace" default="rtabmap"/>
@@ -184,7 +184,7 @@
</group> </group>
<!-- Visualization RVIZ --> <!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/> <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb"> <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="left/image" to="$(arg left_image_topic_relay)"/> <remap from="left/image" to="$(arg left_image_topic_relay)"/>
<remap from="right/image" to="$(arg right_image_topic_relay)"/> <remap from="right/image" to="$(arg right_image_topic_relay)"/>