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rviz: added downloadGraph property

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added relays for images on az3_mapping_client_rviz launch file

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1583 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-16 15:44:58 +00:00
parent 0bcc0bd39d
commit 2fbd147305
4 changed files with 131 additions and 19 deletions
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launch/azimut3/az3_mapping_client_rviz.launch
+8 -12
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@@ -5,10 +5,11 @@
<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 -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay" >
<param name="lazy" type="bool" value="false"/>
</node>
<!-- 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" type="grid_map_assembler" name="grid_map_assembler" output="screen">
@@ -18,19 +19,14 @@
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/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/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<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="rgb/image_transport" type="string" value="theora"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
-->
</launch>