i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated rtabmap_demos launch files with new structure.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_demos/launch/demo_two_kinects.launch
+7 -7
View File
@@ -24,7 +24,7 @@
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<arg name="rtabmap_viz" default="true" />
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=Frame-to-Map 1=Frame-to-Frame
@@ -50,14 +50,14 @@
<!-- sync rgb/depth images per camera -->
<group ns="camera1">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera1_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_sync/rgbd_sync camera1_nodelet_manager">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
</node>
</group>
<group ns="camera2">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera2_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_sync/rgbd_sync camera2_nodelet_manager">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
@@ -67,7 +67,7 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<node pkg="rtabmap_odom" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgbd_image0" to="/camera1/rgbd_image"/>
<remap from="rgbd_image1" to="/camera2/rgbd_image"/>
@@ -90,7 +90,7 @@
<!-- 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="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="rgbd_cameras" type="int" value="2"/>
@@ -110,7 +110,7 @@
</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 $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
@@ -125,6 +125,6 @@
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/rgbd.rviz"/>
</launch>