i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added some ROS_INFO about to which topics the nodes are subscribed on initialization

Browse Source
This commit is contained in:
Mathieu Labbe
2015-04-24 11:24:18 -04:00
parent 9c723006e7
commit c253a75016
6 changed files with 138 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/rgbd_localization.launch
+5 -5
View File
@@ -35,10 +35,10 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
@@ -58,7 +58,7 @@
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
@@ -74,7 +74,7 @@
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node>
</group>
@@ -86,7 +86,7 @@
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
<remap from="rgb/camera_info_in" to="camera/rgb/camera_info"/>
<remap from="odom_in" to="rtabmap/odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
launch/rgbd_mapping.launch
+5 -5
View File
@@ -37,10 +37,10 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
@@ -59,7 +59,7 @@
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
@@ -72,7 +72,7 @@
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node>
</group>
@@ -84,7 +84,7 @@
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="camera/rgb/image_rect_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/camera_info_in" to="camera/rgb/camera_info"/>
<remap from="odom_in" to="rtabmap/odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>