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Added rtabmap_ros/rtabmap nodelet #96 and test_rtabmap_nodelets.launch file as an example

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matlabbe
2016-09-30 16:21:06 -04:00
parent 5167492771
commit db91736443
15 changed files with 320 additions and 180 deletions
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launch/tests/test_rtabmap_nodelets.launch
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<launch>
<!-- Kinect: -->
<include file="$(find freenect_launch)/launch/freenect.launch">
<arg name="depth_registration" value="true" />
</include>
<arg name="frame_id" default="camera_link"/>
<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="odom_args" default="$(arg rtabmap_args)"/>
<!-- RGB-D related topics -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<group ns="camera">
<!-- Use RGBD synchronization -->
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- RGB-D Odometry -->
<node pkg="nodelet" type="nodelet" name="rgbd_odometry" args="load rtabmap_ros/rgbd_odometry camera_nodelet_manager $(arg odom_args)">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
</node>
<!-- RTAB-Map -->
<node pkg="nodelet" type="nodelet" name="rtabmap" args="load rtabmap_ros/rtabmap camera_nodelet_manager $(arg rtabmap_args)">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
</node>
<!-- Visualisation -->
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
</node>
</group>
</launch>