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rtabmap.launch: added "depth_image_transport" argument for convenience

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matlabbe
2016-10-02 17:32:32 -04:00
parent b2b5df31e0
commit 9338c6ef59
1 changed files with 2 additions and 3 deletions
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launch/rtabmap.launch
+2 -3
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@@ -54,9 +54,8 @@
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
<!-- For depth_topic, "compressedDepth" image_transport is used. -->
<!-- For rgb_topic, see "rgb_image_transport" argument. -->
<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
<arg name="depth_image_transport" default="compressedDepth"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
<arg name="subscribe_scan" default="false"/>
<arg name="scan_topic" default="/scan"/>
@@ -85,7 +84,7 @@
<!-- RGB-D Odometry -->
<group unless="$(arg stereo)">
<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="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(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)">
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>