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Odom: added --udebug and --uinfo arguments. Added "gen_depth" argument to bumblebee.launch.

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matlabbe
2016-02-29 16:43:45 -05:00
parent f89ea11c65
commit b424e97d5f
2 changed files with 16 additions and 8 deletions
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launch/tests/bumblebee.launch
+8 -8
View File
@@ -10,15 +10,16 @@
<param name="camera_info_url_right" value="" />
</node>
<arg name="gen_depth" default="false"/>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) base_link stereo_camera 100" />
<!-- Run the ROS package stereo_image_proc (throttle to 10 Hz to avoid rectifying all images) -->
<group ns="/stereo_camera" >
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
<remap from="left/image" to="left/image_raw"/>
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
@@ -28,13 +29,12 @@
</node>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_raw_throttle"/>
<remap from="left/image_raw" to="left/image_raw_throttle"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
<node if="$(arg gen_depth)" pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap_ros/disparity_to_depth"/>
</group>
</launch>
</launch>
src/OdometryROS.cpp
+8
View File
@@ -265,6 +265,14 @@ void OdometryROS::processArguments(int argc, char * argv[], bool stereo)
"argument \"--params\" is detected!");
exit(0);
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
}
}