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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/jfr2018/throttle_bag.launch
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<?xml version="1.0"?>
<launch>
<param name="use_sim_time" value="true"/>
<group ns="/wide_stereo" >
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="rate" type="double" value="15"/>
</node>
</group>
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="standalone rtabmap_ros/data_throttle">
<param name="rate" type="double" value="15.0"/>
<remap from="rgb/image_in" to="rgb/image_raw"/>
<remap from="depth/image_in" to="depth/image_raw"/>
<remap from="rgb/camera_info_in" to="rgb/camera_info"/>
<remap from="rgb/image_out" to="rgb/image_raw_throttle"/>
<remap from="depth/image_out" to="depth/image_raw_throttle"/>
<remap from="rgb/camera_info_out" to="rgb/camera_info_throttle"/>
</node>
</group>
</launch>