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fixed azimut3 launch file (robot side)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1447 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-02 19:14:41 +00:00
parent b2f6f0028e
commit ee3afd5b6c
1 changed files with 10 additions and 9 deletions
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launch/azimut3/az3_mapping_robot.launch
+10 -9
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@@ -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>