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azimut3 kinect-only, updated launch file

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1538 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-10 19:43:10 +00:00
parent 9793db756c
commit b1d3a2b68e
1 changed files with 6 additions and 5 deletions
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launch/azimut3/az3_mapping_robot_kinect_only.launch
+6 -5
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@@ -6,6 +6,10 @@
<param name="odom_frame_id" type="string" value="az3_odom"/> <param name="odom_frame_id" type="string" value="az3_odom"/>
<param name="base_frame_id" type="string" value="az3_base_link"/> <param name="base_frame_id" type="string" value="az3_base_link"/>
</group> </group>
<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
<!-- use same launch file as "Kinect + Odometry" configuration -->
<include file="$(find rtabmap)/launch/azimut3/az3_mapping_robot_kinect_odom.launch"/>
<!-- Odometry --> <!-- Odometry -->
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen"> <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
@@ -15,12 +19,9 @@
<remap from="odom" to="/base_controller/odom"/> <remap from="odom" to="/base_controller/odom"/>
<param name="Odom/MinInliers" type="string" value="10"/> <param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/InlierDistance" type="string" value="0.01"/> <param name="Odom/InlierDistance" type="string" value="0.01"/>
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
</node> </node>
<!-- use same launch file as "Kinect + Odometry" configuration -->
<include file="$(find rtabmap)/launch/azimut3/az3_mapping_robot_kinect_odom.launch"/>
</launch> </launch>