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ros-pkg: added disparity to cloud in point_cloud_xyz nodelet

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1916 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-22 20:34:07 +00:00
parent fae192fc26
commit dcb4f3e928
3 changed files with 78 additions and 13 deletions
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launch/azimut3/az3_mapping_robot_stereo_nav.launch
+13 -6
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@@ -69,7 +69,7 @@
<!-- Run the ROS package stereo_image_proc for image rectification-->
<group ns="/stereo_camera" >
<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
Throttle camera images to 10 Hz () -->
Throttle camera images to 5 Hz (), odometry on azimut cannot run over 5Hz -->
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap/stereo_throttle">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
@@ -77,15 +77,22 @@
<remap from="right/camera_info" to="right/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="rate" type="double" value="10"/>
<param name="rate" type="double" value="5"/>
</node>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_raw_throttle"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="left/image_raw" to="left/image_raw_throttle"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
<remap from="points2" to="/planner_cloud"/>
</node>
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="standalone rtabmap/point_cloud_xyz">
<remap from="disparity/image" to="disparity"/>
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
<remap from="cloud" to="/planner_cloud"/>
<param name="voxel_size" type="double" value="0.05"/>
<param name="decimation" type="int" value="4"/>
</node>
</group>