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updated rgbdslam_datasets.launch

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Mathieu Labbe
2015-02-05 13:30:57 -05:00
parent 2bf43ac444
commit 48462ed078
1 changed files with 9 additions and 5 deletions
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launch/tests/rgbdslam_datasets.launch
+9 -5
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@@ -19,6 +19,10 @@
<arg name="feature" default="6" /> <arg name="feature" default="6" />
<arg name="nn" default="3" /> <arg name="nn" default="3" />
<arg name="local_map" default="1000" /> <arg name="local_map" default="1000" />
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<!-- TF FRAMES --> <!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="world_to_map" <node pkg="tf" type="static_transform_publisher" name="world_to_map"
@@ -37,6 +41,7 @@
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/> <param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/> <param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/> <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="frame_id" type="string" value="kinect"/> <param name="frame_id" type="string" value="kinect"/>
<param name="publish_tf" type="bool" value="false"/> <param name="publish_tf" type="bool" value="false"/>
@@ -69,10 +74,10 @@
</node> </node>
<!-- Visualisation --> <!-- Visualisation -->
<!-- <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node 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_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/> <param name="subscribe_laserScan" type="bool" value="false"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="queue_size" type="int" value="30"/> <param name="queue_size" type="int" value="30"/>
<param name="frame_id" type="string" value="kinect"/> <param name="frame_id" type="string" value="kinect"/>
@@ -82,12 +87,11 @@
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="odom" to="odom"/> <remap from="odom" to="odom"/>
</node> </node>
-->
</group> </group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbdslam_datasets.rviz"/> <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbdslam_datasets.rviz"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb"> <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/rgb/image_color"/> <remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/> <remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>