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added exact_sync policy to data_throttle nodelet

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Mathieu Labbe
2015-02-12 14:12:37 -05:00
parent b0f3d541e4
commit b52d27e1ce
2 changed files with 34 additions and 10 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+5 -4
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@@ -106,7 +106,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="2.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
@@ -119,12 +119,13 @@
</node>
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_planner" args="load rtabmap/point_cloud_xyzrgb camera_nodelet_manager">
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="depth/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="cloud" to="/local_costmap_cloud" />
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="6.0"/>
<param name="noise_filter_radius" type="double" value="0.05"/>
</node>
</group>
</launch>