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ROS: Included UtiLite library directly in Rtabmap source (to simplify the installation),

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rtabmapviz: fixed wrong current image shown bug (loop is shown instead)


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@858 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-04-30 20:25:52 +00:00
parent 92ea04f61a
commit b2b20b151a
8 changed files with 45 additions and 21 deletions
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rtabmap/launch/demo.launch
+29
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<launch>
<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="config_path" value="~/.rtabmap/demo.ini" type="string"/>
<param name="working_directory" value="~/.rtabmap" type="string"/>
</node>
<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen"
args="-d $(find rtabmap)/launch/demo.ini"/>
<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
<node name="camera" pkg="uimage" type="camera" output="screen">
<remap from="/camera/image" to="/image"/>
<param name="device_id" value="0" type="int"/>
<param name="video_or_images_path" value="$(find rtabmap_lib)/build/rtabmap-svn/bin/data/samples" type="string"/>
<param name="frame_rate" value="2.0" type="double"/>
<param name="width" value="0" type="int"/>
<param name="height" value="0" type="int"/>
<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
</node>
<node name="im_extract" pkg="rtabmap" type="im_extract"/>
</launch>