From dfa567916de81b3908ba5c07d147b1caff64f347 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 16 Mar 2016 15:11:03 -0400
Subject: [PATCH] Added az3 nav kinect-only launch

---
 ...apping_robot_nav.launch => az3_nav.launch} |  0
 ...lient_nav.launch => az3_nav_client.launch} |  0
 launch/azimut3/az3_nav_kinect-only.launch     | 38 +++++++++++++++++++
 ...only.launch => az3_nav_kinect_odom.launch} |  2 +-
 4 files changed, 39 insertions(+), 1 deletion(-)
 rename launch/azimut3/{az3_mapping_robot_nav.launch => az3_nav.launch} (100%)
 rename launch/azimut3/{az3_mapping_client_nav.launch => az3_nav_client.launch} (100%)
 create mode 100644 launch/azimut3/az3_nav_kinect-only.launch
 rename launch/azimut3/{az3_mapping_robot_nav_kinect-only.launch => az3_nav_kinect_odom.launch} (99%)

diff --git a/launch/azimut3/az3_mapping_robot_nav.launch b/launch/azimut3/az3_nav.launch
similarity index 100%
rename from launch/azimut3/az3_mapping_robot_nav.launch
rename to launch/azimut3/az3_nav.launch
diff --git a/launch/azimut3/az3_mapping_client_nav.launch b/launch/azimut3/az3_nav_client.launch
similarity index 100%
rename from launch/azimut3/az3_mapping_client_nav.launch
rename to launch/azimut3/az3_nav_client.launch
diff --git a/launch/azimut3/az3_nav_kinect-only.launch b/launch/azimut3/az3_nav_kinect-only.launch
new file mode 100644
index 00000000..ead33f63
--- /dev/null
+++ b/launch/azimut3/az3_nav_kinect-only.launch
@@ -0,0 +1,38 @@
+
+<launch>
+
+  <!-- Localization-only mode -->
+  <arg name="localization"      default="false"/>
+  <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
+  <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>  
+  
+  <!-- "Disable" odometry from azimut3 -->
+  <group ns="base_controller">
+      <param name="odom_frame_id" type="string" value="az3_odom"/>
+      <param name="base_frame_id" type="string" value="az3_base_link"/>
+  </group>
+  <remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
+
+  <!-- use same launch file as "Kinect + Odometry" configuration -->
+  <include file="$(find rtabmap_ros)/launch/azimut3/az3_nav_kinect_odom.launch">
+   <arg name="localization" value="$(arg localization)"/>
+   <arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
+  </include>
+
+  <!-- Odometry -->
+  <group ns="rtabmap">
+    <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
+      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
+      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
+      <remap from="odom"            to="/base_controller/odom"/>
+
+      <param name="Odom/MinInliers" type="string" value="10"/>
+      <param name="Odom/InlierDistance" type="string" value="0.1"/>    
+
+      <param name="frame_id" type="string" value="base_footprint"/>
+    </node>
+  </group>
+
+</launch>
+
diff --git a/launch/azimut3/az3_mapping_robot_nav_kinect-only.launch b/launch/azimut3/az3_nav_kinect_odom.launch
similarity index 99%
rename from launch/azimut3/az3_mapping_robot_nav_kinect-only.launch
rename to launch/azimut3/az3_nav_kinect_odom.launch
index eb021858..b075e309 100644
--- a/launch/azimut3/az3_mapping_robot_nav_kinect-only.launch
+++ b/launch/azimut3/az3_nav_kinect_odom.launch
@@ -158,4 +158,4 @@
       <param name="max_obstacles_height" type="double" value="0.4"/>
     </node>  
   </group>
-</launch>
+</launch>
\ No newline at end of file