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Add output arg to launch script.

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This commit is contained in:
James Goppert
2017-05-04 13:36:32 -04:00
parent a5266ae257
commit 6f558da866
1 changed files with 5 additions and 4 deletions
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launch/rtabmap.launch
+5 -4
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@@ -39,6 +39,7 @@
<arg name="args" default=""/> <!-- delete_db_on_start, udebug --> <arg name="args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="rtabmap_args" default="$(arg args)"/> <!-- deprecated, use "args" argument --> <arg name="rtabmap_args" default="$(arg args)"/> <!-- deprecated, use "args" argument -->
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes --> <arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<arg name="output" default="screen"/> <!--Control node output (screen or log)-->
<!-- if timestamps of the input topics are synchronized using approximate or exact time policy--> <!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
<arg if="$(arg stereo)" name="approx_sync" default="false"/> <arg if="$(arg stereo)" name="approx_sync" default="false"/>
@@ -95,7 +96,7 @@
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" /> <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" /> <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)"> <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="$(arg output)" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/> <remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/> <remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -114,7 +115,7 @@
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" /> <node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" /> <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)"> <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="$(arg output)" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/> <remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/> <remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/> <remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
@@ -131,7 +132,7 @@
<!-- Visual SLAM (robot side) --> <!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" --> <!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/> <param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/> <param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/> <param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
@@ -171,7 +172,7 @@
</node> </node>
<!-- Visualisation RTAB-Map --> <!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)"> <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/> <param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/> <param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/> <param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>