updated launch rviz launch files to use RTAB-Map MapCloud plugin

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1465 f169173b-cf89-36c8-b27e-44dbe73f0c83

launch/config/azimut3.rviz

@@ -26,7 +26,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: ""
 Visualization Manager:
   Class: ""
   Displays:
@@ -98,8 +98,6 @@ Visualization Manager:
           Value: true
         camera_rgb_optical_frame:
           Value: true
-        map:
-          Value: true
         odom:
           Value: true
         wheelLB_linkWheel_link:
@@ -124,62 +122,9 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                base_laser_link:
-                  {}
-                camera_link:
-                  camera_depth_frame:
-                    camera_depth_optical_frame:
-                      {}
-                  camera_rgb_frame:
-                    camera_rgb_optical_frame:
-                      {}
-                wheelLB_linkWheel_link:
-                  wheelLB_wheel_link:
-                    {}
-                wheelLF_linkWheel_link:
-                  wheelLF_wheel_link:
-                    {}
-                wheelRB_linkWheel_link:
-                  wheelRB_wheel_link:
-                    {}
-                wheelRF_linkWheel_link:
-                  wheelRF_wheel_link:
-                    {}
+        {}
       Update Interval: 0
       Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 2.3372
-        Min Value: -0.700095
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /rtabmap/assembled_clouds
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -288,6 +233,36 @@ Visualization Manager:
       Update Interval: 0
       Value: true
       Visual Enabled: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rtabmap/MapCloud
+      Cloud decimation: 4
+      Cloud max depth (m): 4
+      Cloud voxel size (m): 0.02
+      Color: 255; 255; 255
+      Color Transformer: ""
+      Download map: false
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: MapCloud
+      Position Transformer: ""
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /rtabmap/mapData
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -341,5 +316,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1273
-  X: 115
+  X: 108
   Y: 202