From 3a8f561661077bb5961c6a070163fb97db762962 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 4 Mar 2019 19:13:23 -0500
Subject: [PATCH] Updated demo_hector_mapping.launch with rgbd_sync

---
 launch/demo/demo_hector_mapping.launch | 34 ++++++++++----------------
 1 file changed, 13 insertions(+), 21 deletions(-)

diff --git a/launch/demo/demo_hector_mapping.launch b/launch/demo/demo_hector_mapping.launch
index 3949dc05..9d5f4b42 100644
--- a/launch/demo/demo_hector_mapping.launch
+++ b/launch/demo/demo_hector_mapping.launch
@@ -68,23 +68,25 @@
   </node>
 
   <group ns="rtabmap">
-    <!-- SLAM (robot side) -->
+    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
+      <remap from="rgb/image"       to="/data_throttled_image"/>
+      <remap from="depth/image"     to="/data_throttled_image_depth"/>
+      <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
+      <param name="rgb/image_transport"   type="string" value="compressed"/>
+      <param name="depth/image_transport" type="string" value="compressedDepth"/>
+    </node>
+
+    <!-- SLAM -->
     <!-- args: "delete_db_on_start" and "udebug" -->
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
       <param name="frame_id" type="string" value="base_footprint"/>
 	
-      <param name="subscribe_depth" type="bool" value="true"/>
+      <param name="subscribe_depth" type="bool" value="false"/>
+      <param name="subscribe_rgbd"  type="bool" value="true"/>
       <param name="subscribe_scan"  type="bool" value="true"/>
 	
       <remap from="scan" to="/jn0/base_scan"/>
 
-      <remap from="rgb/image"       to="/data_throttled_image"/>
-      <remap from="depth/image"     to="/data_throttled_image_depth"/>
-      <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
-  	
-      <param name="rgb/image_transport" type="string" value="compressed"/>
-      <param name="depth/image_transport" type="string" value="compressedDepth"/>
-
       <!-- As hector doesn't provide compatible covariance in the odometry topic, don't use the topic and fix the covariance -->
       <param if="$(arg hector)" name="odom_frame_id"            type="string" value="hector_map"/>
       <param if="$(arg hector)" name="odom_tf_linear_variance"  type="double" value="0.0005"/>
@@ -101,16 +103,11 @@
     
     <!-- Visualisation RTAB-Map -->
     <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
-      <param name="subscribe_depth"     type="bool" value="true"/>
+      <param name="subscribe_rgbd"      type="bool" value="true"/>
       <param name="subscribe_laserScan" type="bool" value="true"/>
       <param name="frame_id"            type="string" value="base_footprint"/>
     
-      <remap from="rgb/image"       to="/data_throttled_image"/>
-      <remap from="depth/image"     to="/data_throttled_image_depth"/>
-      <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
       <remap from="scan"            to="/jn0/base_scan"/>
-      <param name="rgb/image_transport"   type="string" value="compressed"/>
-      <param name="depth/image_transport" type="string" value="compressedDepth"/>
 
       <!-- As hector doesn't provide compatible covariance in the odometry topic -->
       <param if="$(arg hector)" name="odom_frame_id" type="string" value="hector_map"/>
@@ -124,13 +121,8 @@
   <!-- Visualisation RVIZ -->
   <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
    <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
-    <remap from="rgb/image"       to="/data_throttled_image"/>
-    <remap from="depth/image"     to="/data_throttled_image_depth"/>
-    <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
+    <remap from="rgbd_image"      to="/rtabmap/rgbd_image"/>
     <remap from="cloud"           to="voxel_cloud" />
-    
-    <param name="rgb/image_transport"   type="string" value="compressed"/>
-    <param name="depth/image_transport" type="string" value="compressedDepth"/>
 
     <param name="voxel_size" type="double" value="0.01"/>
   </node>