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azimut3 nav: increased significantly performance with the planner (planner registering on 5 Hz throttle cloud instead of 30 Hz openni cloud)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1804 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-09-30 21:09:42 +00:00
parent 2c263f69c3
commit d3b45f8780
1 changed files with 12 additions and 1 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+12 -1
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@@ -24,7 +24,7 @@
</group>
<group ns="planner">
<remap from="openni_points" to="/camera/depth/points"/>
<remap from="openni_points" to="/planner_cloud"/>
<remap from="base_scan" to="/base_scan"/>
<remap from="map" to="/map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/>
@@ -57,6 +57,17 @@
<remap from="rgb/image_out" to="data_throttled_image"/>
<remap from="depth/image_out" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
</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"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
<remap from="cloud" to="/planner_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="decimation" type="int" value="4"/>
</node>
</group>