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added azimut3 launch configurations: Kinect+odom and Kinect-only

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1536 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-10 19:11:03 +00:00
parent b492c4678a
commit 6b4883e6de
2 changed files with 88 additions and 0 deletions
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launch/azimut3/az3_mapping_robot_kinect_only.launch
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<launch>
<!-- "Disable" odometry from azimut3 -->
<group ns="base_controller">
<param name="odom_frame_id" type="string" value="az3_odom"/>
<param name="base_frame_id" type="string" value="az3_base_link"/>
</group>
<!-- Odometry -->
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="odom" to="/base_controller/odom"/>
<param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/InlierDistance" type="string" value="0.01"/>
<param name="frame_id" type="string" value="base_footprint"/>
</node>
<!-- use same launch file as "Kinect + Odometry" configuration -->
<include file="$(find rtabmap)/az3_mapping_robot_kinect_odom.launch"/>
</launch>