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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_legacy/launch/azimut3/az3_mapping_client.launch
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<?xml version="1.0"?>
<launch>
<!-- Remote teleop -->
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
<!-- a relay on this machine, same for images -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData_relay"/>
<remap from="grid_map" to="rtabmap/grid_map"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
</launch>