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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_launch/launch/rtabmap.launch
+3 -3
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<!-- -->
<launch>
<!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
<!-- Convenience launch file to launch odometry, rtabmap and rtabmap_viz nodes at once -->
<!-- For stereo:=false
Your RGB-D sensor should be already started with "depth_registration:=true".
@@ -22,7 +22,7 @@
<arg name="subscribe_rgb" default="$(arg depth)"/>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="true" />
<arg name="rtabmap_viz" default="true" />
<arg name="rviz" default="false" />
<!-- Localization-only mode -->
@@ -417,7 +417,7 @@
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(arg gui_cfg)" clear_params="$(arg clear_params)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(arg gui_cfg)" clear_params="$(arg clear_params)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgb" type="bool" value="$(arg subscribe_rgb)"/>