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moved stereo stuff from rgbd_sync to stereo_sync

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matlabbe
2018-05-02 12:29:45 -04:00
parent 30eabe93f1
commit a39ffe382c
11 changed files with 277 additions and 86 deletions
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launch/rtabmap.launch
+5 -6
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@@ -119,7 +119,6 @@
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="depth/camera_info" to="$(arg depth_camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
@@ -130,11 +129,11 @@
<node if="$(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 rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="$(arg output)">
<remap from="rgb/image" to="$(arg left_image_topic)"/>
<remap from="depth/image" to="$(arg right_image_topic)"/>
<remap from="rgb/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="depth/camera_info" to="$(arg right_camera_info_topic)"/>
<node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)">
<remap from="left/image_rect" to="$(arg left_image_topic)"/>
<remap from="right/image_rect" to="$(arg right_image_topic)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>