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added cameraOmni.launch for convenience, updated framerate (to 1 Hz) for other launch files, now video0 is the default for all camera launch files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@311 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-08-25 13:40:03 +00:00
parent 451766ce04
commit 3b455408e3
4 changed files with 22 additions and 17 deletions
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rtabmap/launch/all_tr_learning_omni.launch
+2 -11
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@@ -17,15 +17,6 @@
<include file="$(find rtabmap)/launch/rtabmap_sm.launch"/>
<!-- CAMERA -->
<node pkg="omni_camera_capture" type="omni_publisher"
name="omni_camera" respawn="false">
<param name="device" value="/dev/video0"/>
<param name="refresh_rate" value="2"/>
<param name="frame_id" value="omni_camera_link" />
<param name="image_encoding" value="RGB" /> <!-- GREY or RGB-->
<param name="image_size" value="FULL" /> <!-- PARTIAL or FULL -->
<param name="scale_divisor" value="1" /> <!-- 1, 2, 3, 4 or 6 in PARTIAL size-->
<remap from="/image" to="/image_raw" />
</node>
<include file="$(find rtabmap)/launch/cameraOmni.launch"/>
</launch>
</launch>
rtabmap/launch/cameraOmni.launch
+14
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@@ -0,0 +1,14 @@
<launch>
<!-- CAMERA -->
<node pkg="omni_camera_capture" type="omni_publisher"
name="omni_camera" respawn="false">
<param name="device" value="/dev/video0"/>
<param name="refresh_rate" value="1"/>
<param name="frame_id" value="omni_camera_link" />
<param name="image_encoding" value="RGB" /> <!-- GREY or RGB-->
<param name="image_size" value="FULL" /> <!-- PARTIAL or FULL -->
<param name="scale_divisor" value="1" /> <!-- 1, 2, 3, 4 or 6 in PARTIAL size-->
<remap from="/image" to="/image_raw" />
</node>
</launch>
rtabmap/launch/cameraOpenCV.launch
+2 -2
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@@ -1,10 +1,10 @@
<launch>
<!-- Camera parameters -->
<param name="cam/device_id" value="0" type="int"/>
<param name="cam/image_rate" value="2" type="int"/>
<param name="cam/image_rate" value="1" type="int"/>
<param name="cam/image_width" value="640" type="int"/>
<param name="cam/image_height" value="480" type="int"/>
<!-- Nodes -->
<node name="camera" pkg="rtabmap" type="camera_node"/>
</launch>
</launch>
rtabmap/launch/rtabmap_sm.launch
+4 -4
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@@ -12,7 +12,7 @@
</node>
<node name="rtabmap_output" pkg="rtabmap" type="output_node">
<param name="commands_hz" value="5" type="int"/>
<param name="commands_hz" value="10" type="int"/>
<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
<remap from="rtabmap_info" to="rtabmap_info" />
<remap from="rtabmap_info_x" to="rtabmap_info_x" />
@@ -25,17 +25,17 @@
</node>
<node name="rtabmap_input" pkg="rtabmap" type="input_node">
<param name="nb_commands" value="5" type="int"/>
<param name="nb_commands" value="10" type="int"/>
<remap from="/cmd_vel" to="/cmd_vel" />
<remap from="/sm_state" to="/sm_state" />
<remap from="/camera_data" to="/camera_data" />
</node>
<node name="image_to_sms" pkg="rtabmap" type="image_to_sms_node">
<param name="image_rate" value="2" type="int"/>
<param name="image_rate" value="1" type="int"/>
<param name="resize_image_width" value="640" type="int"/>
<param name="resize_image_height" value="480" type="int"/>
<remap from="/image_raw" to="/image_raw" />
<remap from="/sm_state" to="/camera_data" />
</node>
</launch>
</launch>