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First version rtabmap_launch working

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matlabbe
2023-02-19 18:55:24 -08:00
parent 2f4aadacbb
commit 2dd931248e
418 changed files with 5304 additions and 3493 deletions
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rtabmap_examples/launch/tests/test_obstacles_detection.launch
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<?xml version="1.0"?>
<launch>
<!-- Use stereo_outdoorA.bag for testing -->
<include file="$(find rtabmap_ros)/launch/demo/demo_stereo_outdoor.launch"/>
<group ns="/stereo_camera" >
<node pkg="nodelet" type="nodelet" name="obstacles_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_ros/point_cloud_xyz obstacles_manager">
<remap from="disparity/image" to="disparity"/>
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
<remap from="cloud" to="cloudXYZ"/>
<param name="voxel_size" type="double" value="0.05"/>
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="4"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection obstacles_manager">
<remap from="cloud" to="cloudXYZ"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.0"/>
</node>
</group>
</launch>