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updated az3_db_record.launch

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1542 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-11 18:34:28 +00:00
parent 63f74cc621
commit deecd9e93b
2 changed files with 6 additions and 9 deletions
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launch/azimut3/az3_db_record.launch
+5 -8
View File
@@ -25,13 +25,13 @@
<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="rgb/image_in" to="rgb/image_rect_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/camera_info_in" to="rgb/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"/>
<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>
@@ -51,9 +51,6 @@
<remap from="depth/image" to="camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="camera/data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
</node>
launch/azimut3/az3_mapping_robot.launch
+1 -1
View File
@@ -37,7 +37,7 @@
<!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--udebug --delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>