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updated test_rgbd_image.launch to test compressed_rate parameter of rgbd_sync

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matlabbe
2019-03-03 18:33:31 -05:00
parent 4646b99cbb
commit 60db806097
1 changed files with 11 additions and 8 deletions
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launch/tests/test_rgbd_image.launch
+11 -8
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@@ -7,26 +7,29 @@
</include> </include>
<arg name="compressed" default="false"/> <arg name="compressed" default="false"/>
<arg name="compressed_rate" default="0"/>
<group ns="camera"> <group ns="camera">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager"> <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager" output="screen">
<remap from="rgb/image" to="rgb/image_rect_color"/> <remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/> <remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/> <remap from="rgb/camera_info" to="rgb/camera_info"/>
<param name="compressed_rate" value="$(arg compressed_rate)"/>
</node> </node>
</group> </group>
<!-- Nodes --> <!-- Nodes -->
<group ns="rtabmap"> <group ns="rtabmap">
<!-- RGB-D Odometry --> <!-- RGB-D Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen"> <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<param name="subscribe_rgbd" type="bool" value="true"/> <param name="subscribe_rgbd" type="bool" value="true"/>
<remap from="rgbd_image" to="/camera/rgbd_image"/> <remap if="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image/compressed"/>
<remap unless="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image"/>
<param name="Odom/AlignWithGround" type="string" value="true"/> <param name="Odom/AlignWithGround" type="string" value="true"/>
<param name="frame_id" type="string" value="camera_link"/> <param name="frame_id" type="string" value="camera_link"/>
</node> </node>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="false"/> <param name="subscribe_depth" type="bool" value="false"/>