From d9ee53036a0490830d8ee28c9ff00501aa0b058f Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Fri, 11 Jul 2014 18:05:11 +0000
Subject: [PATCH] az3: updated az3_bag_record.launch

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1540 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/azimut3/az3_bag_record.launch | 37 ++++++++++++++++++++++++++++
 launch/azimut3/az3_record.launch     | 23 -----------------
 2 files changed, 37 insertions(+), 23 deletions(-)
 create mode 100644 launch/azimut3/az3_bag_record.launch
 delete mode 100644 launch/azimut3/az3_record.launch

diff --git a/launch/azimut3/az3_bag_record.launch b/launch/azimut3/az3_bag_record.launch
new file mode 100644
index 00000000..fbb89d3e
--- /dev/null
+++ b/launch/azimut3/az3_bag_record.launch
@@ -0,0 +1,37 @@
+
+<launch>
+  <!-- rosbag record camera/data_throttled_image/compressed camera/data_throttled_image_depth/compressedDepth camera/data_throttled_camera_info tf base_scan /base_controller/odom -->
+  
+  <include file="$(find az3_bringup)/az3_standalone.launch"/>
+  <include file="$(find az3_bringup)/joystick.launch"/>
+
+  <!-- OpenNI -->
+  <!-- Xtion -->
+  <include file="$(find openni2_launch)/launch/openni2.launch">
+    <arg name="depth_registration" value="True" />
+    <arg name="rgb_camera_info_url"
+        value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
+   <arg name="depth_camera_info_url"
+        value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
+  </include>
+
+  <!-- Xtion frame -->
+  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
+      args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
+  
+  <!-- Throttling messages -->
+  <group ns="camera">
+    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
+      <param name="max_rate" type="double" value="10.0"/>
+   
+      <remap from="rgb/image_in"       to="rgb/image_color"/>
+      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
+      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
+    
+      <remap from="rgb/image_out"       to="/data_throttled_image"/>
+      <remap from="depth/image_out"     to="/data_throttled_image_depth"/>
+      <remap from="rgb/camera_info_out" to="/data_throttled_camera_info"/>
+    </node>   
+  </group>
+
+</launch>
diff --git a/launch/azimut3/az3_record.launch b/launch/azimut3/az3_record.launch
deleted file mode 100644
index e5b81454..00000000
--- a/launch/azimut3/az3_record.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-
-<launch>
-  <!-- rosbag record data_throttled_image/compressed data_throttled_image_depth/compressedDepth data_throttled_camera_info tf base_scan /base_controller/odom -->
-  
-  <include file="$(find az3_bringup)/az3_standalone_openni.launch"/>
-  <include file="$(find az3_bringup)/joystick.launch"/>
-  
-  <!-- Throttling messages -->
-  <group ns="camera">
-    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
-      <param name="max_rate" type="double" value="10.0"/>
-   
-      <remap from="rgb/image_in"       to="rgb/image_color"/>
-      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
-      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
-    
-      <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>   
-  </group>
-
-</launch>