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ros-pkg: Added obstacles_detection nodelet

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1923 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-24 19:32:19 +00:00
parent bef004eaa3
commit 9e0b143429
6 changed files with 337 additions and 71 deletions
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launch/tests/test_stereo_mapping_bag.launch
+20 -3
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@@ -118,10 +118,13 @@
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.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="/stereo_camera/left/image_rect_color"/>
<remap from="depth/image_in" to="/odom_depth"/>
<remap from="rgb/image_in" to="/stereo_camera/left/image_rect"/>
<remap from="depth/image_in" to="/stereo_camera/depth"/>
<remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
<remap from="odom_in" to="/stereo_odometer/odom"/>
<remap from="odom_in" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
@@ -137,7 +140,21 @@
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="decimation" type="int" value="2"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyz" args="load rtabmap/point_cloud_xyz standalone_nodelet">
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="depth/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="cloudXYZ" />
<param name="queue_size" type="int" value="10"/>
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="4"/>
<param name="voxel_size" type="double" value="0.05"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap/obstacles_detection standalone_nodelet">
<remap from="cloud" to="cloudXYZ"/>
</node>
</launch>