i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap.launch: added gen_cloud option

Browse Source
This commit is contained in:
matlabbe
2021-09-13 18:23:34 -04:00
parent d21842408d
commit caf6690f40
1 changed files with 15 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/rtabmap.launch
+15 -1
View File
@@ -85,9 +85,13 @@
<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") --> <arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
<arg name="depth_image_transport" default="compressedDepth"/> <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") --> <arg name="depth_image_transport" default="compressedDepth"/> <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") -->
<arg name="gen_cloud" default="false"/> <!-- only works with depth image and if not subscribing to scan_cloud topic-->
<arg name="gen_cloud_decimation" default="4"/>
<arg name="gen_cloud_voxel" default="0.05"/>
<arg name="subscribe_scan" default="false"/> <arg name="subscribe_scan" default="false"/>
<arg name="scan_topic" default="/scan"/> <arg name="scan_topic" default="/scan"/>
<arg name="subscribe_scan_cloud" default="false"/> <arg name="subscribe_scan_cloud" default="$(arg gen_cloud)"/>
<arg name="scan_cloud_topic" default="/scan_cloud"/> <arg name="scan_cloud_topic" default="/scan_cloud"/>
<arg name="subscribe_scan_descriptor" default="false"/> <arg name="subscribe_scan_descriptor" default="false"/>
<arg name="scan_descriptor_topic" default="/scan_descriptor"/> <arg name="scan_descriptor_topic" default="/scan_descriptor"/>
@@ -206,6 +210,16 @@
</group> </group>
</group> </group>
<node pkg="nodelet" type="nodelet" name="gen_cloud_from_depth" args="standalone rtabmap_ros/point_cloud_xyz" clear_params="$(arg clear_params)" output="$(arg output)">
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="depth/camera_info" to="$(arg camera_info_topic)"/>
<remap from="cloud" to="$(arg scan_cloud_topic)" />
<param name="decimation" type="double" value="$(arg gen_cloud_decimation)"/>
<param name="voxel_size" type="double" value="$(arg gen_cloud_voxel)"/>
<param name="approx_sync" type="bool" value="false"/>
</node>
<!-- Visual odometry --> <!-- Visual odometry -->
<group unless="$(arg icp_odometry)"> <group unless="$(arg icp_odometry)">
<group if="$(arg visual_odometry)"> <group if="$(arg visual_odometry)">