From ee3afd5b6cda345835ba86b6f2361cbdd21fc803 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Wed, 2 Jul 2014 19:14:41 +0000
Subject: [PATCH] fixed azimut3 launch file (robot side)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1447 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/azimut3/az3_mapping_robot.launch | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/launch/azimut3/az3_mapping_robot.launch b/launch/azimut3/az3_mapping_robot.launch
index 01eb0229..fbe1c829 100644
--- a/launch/azimut3/az3_mapping_robot.launch
+++ b/launch/azimut3/az3_mapping_robot.launch
@@ -6,20 +6,23 @@
   <include file="$(find az3_bringup)/joystick.launch"/>
   
   <!-- Throttling messages -->
+  <group ns="camera">
   <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="camera/rgb/image_color"/>
-    <remap from="depth/image_in"     to="camera/depth_registered/image_raw"/>
-    <remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
+    <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/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>  
 
   <!-- SLAM (robot side) -->
   <!-- args: "delete_db_on_start" and "udebug" -->
+  <group ns="rtabmap">
   <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
 	<param name="frame_id" type="string" value="base_footprint"/>
 	
@@ -29,12 +32,9 @@
 	<remap from="odom" to="/base_controller/odom"/>
 	<remap from="scan" to="/base_scan"/>
 
-	<remap from="rgb/image" to="data_throttled_image"/>
-  	<remap from="depth/image" to="data_throttled_image_depth"/>
-  	<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
-  	
-  	<param name="rgb/image_transport" type="string" value="compressed"/>
-    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+	<remap from="rgb/image" to="/camera/data_throttled_image"/>
+  	<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
+  	<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
 	
 	<param name="queue_size" type="int" value="10"/>
 	
@@ -54,4 +54,5 @@
 	<param name="Rtabmap/TimeThr" type="string" value="700"/>
 	<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
   </node>
+  </group>
 </launch>