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Updated rtabmap_demos launch files with new structure.

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This commit is contained in:
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_stereo_pr2.launch
+5 -5
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@@ -4,7 +4,7 @@
You will need to remove the transform /combined_odometry from the /tf messages:
$ rosbag filter 2011-01-20-07-18-45.bag out.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/odom_combined"'
Run the example:
$ roslaunch rtabmap demo_stereo.launch
$ roslaunch rtabmap_demos demo_stereo.launch
$ rosbag play -.-clock out.bag (replace -.- by double-dashes)
-->
@@ -14,7 +14,7 @@
<group ns="/wide_stereo">
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="disparity" args="load stereo_image_proc/disparity standalone_nodelet"/>
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap_ros/disparity_to_depth standalone_nodelet"/>
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap_util/disparity_to_depth standalone_nodelet"/>
</group>
<!-- Odometry: Run the viso2_ros package -->
@@ -30,7 +30,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
@@ -68,7 +68,7 @@
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<node 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_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="30"/>
@@ -82,4 +82,4 @@
</node>
</group>
</launch>
</launch>