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switch rtabmap_lib svn co from the 0.3 branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@110 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2011-06-20 16:49:22 +00:00
commit b4add8dbe8
49 changed files with 2494 additions and 0 deletions
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rtabmap/launch/rtabmap_sm.launch
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<launch>
<!-- RTAB-MAP SENSORY-MOTOR VERSION -->
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- image_to_sm parameters -->
<param name="resize_image_width" value="640" type="int"/>
<param name="resize_image_height" value="480" type="int"/>
<!-- Nodes -->
<!-- cmd_vel_a has priority on cmd_vel_b -->
<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity_node">
<remap from="cmd_vel_a" to="user/cmd_vel" />
<remap from="cmd_vel_b" to="rtabmap/cmd_vel" />
<remap from="cmd_vel" to="cmd_vel" />
</node>
<node name="rtabmap_output" pkg="rtabmap" type="output_node">
<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
<remap from="rtabmap_info" to="rtabmap_info" />
<remap from="rtabmap_info_x" to="rtabmap_info_x" />
</node>
<node name="rtabmap_core" pkg="rtabmap" type="core_node" output="screen" args="--delete_db_on_start">
<remap from="sm_state" to="sm_state" />
<remap from="rtabmap_info" to="rtabmap_info" />
<remap from="rtabmap_info_x" to="rtabmap_info_x" />
</node>
<node name="rtabmap_input" pkg="rtabmap" type="input_node">
<remap from="cmd_vel" to="cmd_vel" />
<remap from="sm_state" to="sm_state" />
<remap from="camera_data" to="camera_data" />
</node>
<node name="image_to_sms" pkg="rtabmap" type="image_to_sms_node">
<remap from="image" to="image" />
<remap from="sm_state" to="camera_data" />
</node>
</launch>