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ros_pkg: added launch files for AZIMUT3 robot

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1445 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-02 15:43:28 +00:00
parent 2c82fb0585
commit b2f6f0028e
5 changed files with 152 additions and 2 deletions
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launch/azimut3/az3_record.launch
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<launch>
<!-- rosbag record data_throttled_image/compressed data_throttled_image_depth/compressedDepth data_throttled_camera_info tf base_scan /base_controller/odom -->
<include file="$(find az3_bringup)/az3_standalone_openni.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/>
<!-- Throttling messages -->
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="10.0"/>
<remap from="rgb/image_in" to="camera/rgb/image_color"/>
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
<remap from="rgb/image_out" to="data_throttled_image"/>
<remap from="depth/image_out" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
</node>
</launch>