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Updated rtabmap_legacy launch files with new strucutre

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matlabbe
2023-03-04 16:04:24 -08:00
parent f5f6097a20
commit 36200b1df0
41 changed files with 101 additions and 656 deletions
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rtabmap_legacy/launch/azimut3/az3_mapping_client.launch
+3 -3
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@@ -13,16 +13,16 @@
<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">
<node pkg="rtabmap_legacy" 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"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_legacy)/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">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_util/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"/>