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updated az3 launch files

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Mathieu Labbe
2015-02-16 16:51:42 -05:00
parent 4314246d1e
commit ac6eb64178
2 changed files with 2 additions and 7 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+2 -4
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@@ -8,9 +8,7 @@
<include file="$(find az3_bringup)/az3_standalone.launch"/> <include file="$(find az3_bringup)/az3_standalone.launch"/>
<!-- OpenNI --> <!-- OpenNI -->
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"> <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
<arg name="data_skip" value="5" />
</include>
<!-- SLAM (robot side) --> <!-- SLAM (robot side) -->
<group ns="rtabmap"> <group ns="rtabmap">
@@ -110,7 +108,7 @@
<!-- Throttling messages --> <!-- Throttling messages -->
<group ns="camera"> <group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen"> <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="rate" type="double" value="0"/> <!-- set by data_skip above --> <param name="rate" type="double" value="5"/>
<param name="decimation" type="int" value="4"/> <param name="decimation" type="int" value="4"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/> <remap from="rgb/image_in" to="rgb/image_rect_color"/>
launch/azimut3/az3_openni.launch
-3
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@@ -1,12 +1,9 @@
<launch> <launch>
<arg name="data_skip" default="0" />
<!-- Xtion --> <!-- Xtion -->
<include file="$(find openni2_launch)/launch/openni2.launch"> <include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" /> <arg name="depth_registration" value="True" />
<arg name="data_skip" value="$(arg data_skip)" />
<arg name="rgb_camera_info_url" <arg name="rgb_camera_info_url"
value="file://$(find rtabmap_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" /> value="file://$(find rtabmap_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
<arg name="depth_camera_info_url" <arg name="depth_camera_info_url"