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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/stereo_mapping.launch
+4 -4
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@@ -16,8 +16,8 @@
<arg name="localization" default="false"/>
<!-- Corresponding config files -->
<arg name="rtabmapviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="rtabmapviz_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_launch)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="base_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="database_path" default="~/.ros/rtabmap.db"/>
@@ -45,9 +45,9 @@
<arg name="namespace" default="rtabmap"/>
<arg name="wait_for_transform" default="0.2"/>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg name="stereo" value="true"/>
<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
<arg name="rtabmap_viz" value="$(arg rtabmapviz)" />
<arg name="rviz" value="$(arg rviz)" />
<arg name="localization" value="$(arg localization)"/>
<arg name="gui_cfg" value="$(arg rtabmapviz_cfg)" />