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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/rgbd_mapping_kinect2.launch
+6 -6
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@@ -7,7 +7,7 @@
Make sure it is calibrated!
Run:
$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
$ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch
$ roslaunch rtabmap_legacy rgbd_mapping_kinect2.launch
-->
<!-- Which image resolution to process in rtabmap: sd, qhd, hd -->
@@ -27,8 +27,8 @@
<arg name="rtabmapviz" default="true" />
<!-- Corresponding config files -->
<arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="rtabmapviz_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="-d $(find rtabmap_launch)/launch/config/rgbd.rviz" />
<!-- slightly increase default parameters for larger images (qhd=720p) -->
<arg name="gftt_block_size" default="5" />
@@ -37,7 +37,7 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_odom" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
<remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
@@ -51,7 +51,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
@@ -66,7 +66,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
<node if="$(arg rtabmapviz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="$(arg rtabmapviz_cfg)" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>