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added install directives (nodes/library/launch files)

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Mathieu Labbe
2014-12-02 16:24:26 -05:00
parent 5318b542b7
commit 6364e9be66
108 changed files with 423 additions and 54 deletions
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launch/demo/demo_appearance_localization.launch
+1 -1
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@@ -38,7 +38,7 @@
<node name="camera" pkg="rtabmap_ros" type="camera" output="screen">
<remap from="image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="video_or_images_path" value="$(find rtabmap_ros)/data" type="string"/>
<param name="video_or_images_path" value="$(find rtabmap_ros)/launch/data/demo_appearance" type="string"/>
<param name="frame_rate" value="2.0" type="double"/>
<param name="width" value="0" type="int"/>
<param name="height" value="0" type="int"/>
launch/demo/demo_appearance_mapping.launch
+1 -1
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@@ -41,7 +41,7 @@
<node name="camera" pkg="rtabmap_ros" type="camera" output="screen">
<remap from="image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="video_or_images_path" value="$(find rtabmap_ros)/data" type="string"/>
<param name="video_or_images_path" value="$(find rtabmap_ros)/launch/data/demo_appearance" type="string"/>
<param name="frame_rate" value="2.0" type="double"/>
<param name="width" value="0" type="int"/>
<param name="height" value="0" type="int"/>
launch/demo/demo_find_object.launch
+5 -3
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@@ -48,8 +48,10 @@
</group>
<!-- send AZIMUT 3 urdf to param server -->
<!--
<param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
-->
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData"/>
@@ -60,7 +62,7 @@
<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_ros)/launch/config/azimut3.rviz" output="screen"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_find_object.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
@@ -81,7 +83,7 @@
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="$(find rtabmap_ros)/launch/config/find_object.ini" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(find rtabmap_ros)/launch/config/books" type="str"/>
<param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
<remap from="rgb/image_rect_color" to="/camera/data_throttled_image"/>
<remap from="depth_registered/image_raw" to="/camera/data_throttled_image_depth"/>
launch/demo/kinect_frames.launch
-23
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@@ -1,23 +0,0 @@
<!-- Default frames for Kinect/PSDK5 devices
Places depth and RGB cameras in the same plane with 2.5cm baseline.
Calibration may improve results, but these defaults are reasonably accurate.
-->
<launch>
<arg name="camera" default="camera" />
<arg name="ns" default="" />
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
args="0 -0.02 0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_depth_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
args="0 -0.045 0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_rgb_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
args="$(arg optical_rotate) $(arg ns)/$(arg camera)_depth_frame $(arg ns)/$(arg camera)_depth_optical_frame 100" />
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
args="$(arg optical_rotate) $(arg ns)/$(arg camera)_rgb_frame $(arg ns)/$(arg camera)_rgb_optical_frame 100" />
</launch>
<!-- TODO Could instead store these in camera_pose_calibration format for consistency
with user calibrations. Blocked on camera_pose_calibration having sane dependencies. -->