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az3: added az3_db_record.launch

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1541 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-11 18:11:18 +00:00
parent d9ee53036a
commit 63f74cc621
1 changed files with 60 additions and 0 deletions
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launch/azimut3/az3_db_record.launch
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<launch>
<!-- record data to RTAB-Map database format (like a ROS bag, but usable in RTAB-Map for Windows/Mac OS X) -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- OpenNI -->
<!-- Xtion -->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
<arg name="rgb_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url"
value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
</include>
<!-- Xtion frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="10.0"/>
<remap from="rgb/image_in" to="rgb/image_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
<remap from="rgb/image_out" to="/data_throttled_image"/>
<remap from="depth/image_out" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="/data_throttled_camera_info"/>
</node>
</group>
<node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
<param name="output_file_name" value="az3_record.db" type="string"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_odometry" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="rgb/image" to="camera/data_throttled_image"/>
<remap from="depth/image" to="camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="camera/data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
</node>
</launch>