From 4e3c30d8ed449de381d4bef83b37f09e5318197f Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Tue, 12 Aug 2014 22:28:56 +0000
Subject: [PATCH] updated demo_find_object.launch

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1643 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/demo/demo_find_object.launch | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/launch/demo/demo_find_object.launch b/launch/demo/demo_find_object.launch
index 4ce1e639..09a99be6 100644
--- a/launch/demo/demo_find_object.launch
+++ b/launch/demo/demo_find_object.launch
@@ -51,8 +51,11 @@
     <remap from="mapData" to="rtabmap/mapData"/>
   </node>
 
-  <!-- Visualisation -->
+  <!-- just to re-use azimut3.rviz config below -->
   <node name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
+  <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
+
+  <!-- Visualisation -->
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz" output="screen"/>
   
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>