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azimut3: increased bandwidth efficiency for teleoperation, set teleop node on client

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1546 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-11 22:37:09 +00:00
parent 0bd7f67bd2
commit 88be959268
5 changed files with 54 additions and 44 deletions
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launch/azimut3/az3_mapping_client.launch
+2 -2
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@@ -4,8 +4,8 @@
<!-- Visualisation (client side) -->
<group ns="rtabmap">
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
launch/azimut3/az3_mapping_client_rviz.launch
+17 -7
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@@ -1,14 +1,24 @@
<launch>
<group ns="rtabmap">
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
</group>
<!-- Remote teleop -->
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
<!-- a relay on this machine -->
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay" >
<param name="lazy" type="bool" value="false"/>
</node>
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
<remap from="mapData" to="rtabmap/mapData_relay"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwith efficiency -->
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz)
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="/camera/data_throttled_image"/>
@@ -35,5 +45,5 @@
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
-->
</launch>
launch/azimut3/az3_mapping_robot.launch
+1 -1
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@@ -3,7 +3,7 @@
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<!-- Xtion -->
launch/azimut3/az3_mapping_robot_kinect_odom.launch
+1 -1
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@@ -3,7 +3,7 @@
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
<!-- OpenNI -->
<!-- Xtion -->