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updated azimut3 navigation launch with rtabmap's planner

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Mathieu Labbe
2015-02-03 14:23:32 -05:00
parent 0b67fe4e3b
commit 85268d5d42
4 changed files with 86 additions and 64 deletions
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launch/azimut3/az3_mapping_client_nav.launch
+1 -1
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@@ -3,7 +3,7 @@
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
<!-- a relay on this machine, same for images -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />