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added azimut3 find_object launch file

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1638 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-12 19:19:07 +00:00
parent 4c5f116061
commit e3e3dd51bf
10 changed files with 169 additions and 6 deletions
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launch/azimut3/az3_bag_find_object.launch
+15
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@@ -0,0 +1,15 @@
<launch>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="$(find rtabmap)/launch/config/azimut3_find_object.ini" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(find rtabmap)/launch/config/books" type="str"/>
<remap from="rgb/image_rect_color" to="camera/data_throttled_image"/>
<remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth"/>
<remap from="depth_registered/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"/>
</node>
</launch>
launch/azimut3/az3_bag_mapping.launch
+4 -4
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@@ -20,7 +20,7 @@
<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="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
@@ -41,9 +41,9 @@
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
</node>
</group>
<!-- Visualisation (client side) -->
</group>
<!-- Visualisation -->
<include file="$(find rtabmap)/launch/azimut3/az3_mapping_client.launch"/>
</launch>
launch/azimut3/az3_mapping_client.launch
+2 -2
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@@ -7,8 +7,8 @@
<!-- Visualisation (client side) -->
<group ns="rtabmap">
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
launch/azimut3/az3_remote_find_object.launch
+12
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@@ -0,0 +1,12 @@
<launch>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="true" type="bool"/>
<param name="settings_path" value="$(find rtabmap)/launch/config/azimut3_find_object.ini" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(find rtabmap)/launch/config/books" type="str"/>
<remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
<remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
<remap from="depth_registered/camera_info" to="camera/data_throttled_camera_info_relay"/>
</node>
</launch>