From c26d53a8bf3857099f07f853cac31830e84b4304 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Mon, 17 Dec 2012 16:12:20 +0000
Subject: [PATCH] updated loop_closure_detection.launch to use sample data set
 from rtabmap_lib pkg

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@685 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 rtabmap/launch/loop_closure_detection.launch | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/rtabmap/launch/loop_closure_detection.launch b/rtabmap/launch/loop_closure_detection.launch
index 07e0dd65..1bcfa3ab 100644
--- a/rtabmap/launch/loop_closure_detection.launch
+++ b/rtabmap/launch/loop_closure_detection.launch
@@ -9,12 +9,14 @@
 	
 	<node name="rtabmap_gui" pkg="rtabmap" type="rtabmap_gui" output="screen"/>
 	
+	<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
 	<node name="camera" pkg="uimage" type="camera" output="screen">
 		<remap from="/camera/image" to="/image"/>
 		<param name="device_id" value="0" type="int"/>
-		<param name="video_or_images_path" value="/media/SD-32GB/NewCollege" type="string"/>
+		<param name="video_or_images_path" value="$(find rtabmap_lib)/build/rtabmap-svn/bin/data/samples" type="string"/>
 		<param name="frame_rate" value="2.0" type="double"/>
 		<param name="width" value="0" type="int"/>
 		<param name="height" value="0" type="int"/>
+		<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
 	</node>
 </launch>