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Added command's rate parameter in input_node and output_node

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Set default to 2 Hz for telerobot example

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@308 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-08-23 18:46:51 +00:00
parent e2b147285f
commit db8606effd
5 changed files with 23 additions and 12 deletions
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rtabmap/launch/all_tr_learning.launch
+1 -1
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@@ -17,6 +17,6 @@
<include file="$(find rtabmap)/launch/rtabmap_sm.launch"/>
<!-- CAMERA -->
<include file="$(find rtabmap)/launch/camera.launch"/>
<include file="$(find rtabmap)/launch/cameraOpenCV.launch"/>
</launch>
rtabmap/launch/cameraOpenCV.launch
+1 -1
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@@ -1,7 +1,7 @@
<launch>
<!-- Camera parameters -->
<param name="cam/device_id" value="0" type="int"/>
<param name="cam/image_rate" value="1" type="int"/>
<param name="cam/image_rate" value="2" type="int"/>
<param name="cam/image_width" value="640" type="int"/>
<param name="cam/image_height" value="480" type="int"/>
rtabmap/launch/rtabmap_sm.launch
+3 -1
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@@ -12,6 +12,7 @@
</node>
<node name="rtabmap_output" pkg="rtabmap" type="output_node">
<param name="commands_hz" value="5" type="int"/>
<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
<remap from="rtabmap_info" to="rtabmap_info" />
<remap from="rtabmap_info_x" to="rtabmap_info_x" />
@@ -24,13 +25,14 @@
</node>
<node name="rtabmap_input" pkg="rtabmap" type="input_node">
<param name="nb_commands" value="5" type="int"/>
<remap from="/cmd_vel" to="/cmd_vel" />
<remap from="/sm_state" to="/sm_state" />
<remap from="/camera_data" to="/camera_data" />
</node>
<node name="image_to_sms" pkg="rtabmap" type="image_to_sms_node">
<param name="image_rate" value="1" type="int"/>
<param name="image_rate" value="2" type="int"/>
<param name="resize_image_width" value="640" type="int"/>
<param name="resize_image_height" value="480" type="int"/>
<remap from="/image_raw" to="/image_raw" />