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Updated rtabmap_demos launch files with new structure.

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matlabbe
2023-03-04 14:24:18 -08:00
parent 523b4c6e6a
commit a7675b7c09
28 changed files with 166 additions and 152 deletions
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rtabmap_demos/launch/demo_multi-session_mapping.launch
+5 -5
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@@ -6,7 +6,7 @@
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<arg name="rtabmap_viz" default="true" />
<arg name="rtabmap_args" default="" />
<param name="use_sim_time" type="bool" value="True"/>
@@ -15,7 +15,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
@@ -60,7 +60,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
@@ -79,8 +79,8 @@
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_robot_mapping.rviz"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_util/point_cloud_xyzrgb">
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>