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updated data_recorder.launch

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matlabbe
2015-08-03 19:34:56 -04:00
parent 833049a03f
commit ea2ea00b7e
1 changed files with 24 additions and 10 deletions
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launch/data_recorder.launch
+24 -10
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@@ -14,9 +14,18 @@
<arg name="queue_size" default="10"/>
<arg name="max_rate" default="0"/> <!-- Record as fast as possible -->
<arg name="camera_prefix" default="camera"/>
<arg name="odom_topic" default="odom"/>
<arg name="scan_topic" default="scan"/>
<arg name="rgb_topic" default="camera/rgb/image_rect_color"/>
<arg name="rgb_info_topic" default="camera/rgb/camera_info"/>
<arg name="depth_topic" default="camera/depth_registered/image_raw"/>
<arg name="left_topic" default="camera/left/image_rect_color"/>
<arg name="left_info_topic" default="camera/left/camera_info"/>
<arg name="right_topic" default="camera/right/image_rect"/>
<arg name="right_info_topic" default="camera/right/camera_info"/>
<arg name="odom_topic" default="odom"/>
<arg name="scan_topic" default="scan"/>
<arg name="rgb_image_transport" default="raw"/>
<arg name="depth_image_transport" default="raw"/>
<node name="data_recorder" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
@@ -43,13 +52,18 @@
<param if="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param unless="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="$(arg camera_prefix)/rgb/image_rect_color"/>
<remap from="rgb/camera_info" to="$(arg camera_prefix)/rgb/camera_info"/>
<remap from="depth/image" to="$(arg camera_prefix)/depth_registered/image_raw"/>
<remap from="left/image_rect" to="$(arg camera_prefix)/left/image_rect"/>
<remap from="left/camera_info" to="$(arg camera_prefix)/left/camera_info"/>
<remap from="right/image_rect" to="$(arg camera_prefix)/right/image_rect"/>
<remap from="right/camera_info" to="$(arg camera_prefix)/right/camera_info"/>
<param name="rgb/image_transport" type="string" value="$(arg rgb_image_transport)"/>
<param name="depth/image_transport" type="string" value="$(arg depth_image_transport)"/>
<param name="left/image_transport" type="string" value="$(arg rgb_image_transport)"/>
<param name="right/image_transport" type="string" value="$(arg rgb_image_transport)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="rgb/camera_info" to="$(arg rgb_info_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="left/image_rect" to="$(arg left_topic)"/>
<remap from="left/camera_info" to="$(arg left_info_topic)"/>
<remap from="right/image_rect" to="$(arg right_topic)"/>
<remap from="right/camera_info" to="$(arg right_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>