mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
updated launch files for new pkg path rtabmap_ros instead of rtabmap
This commit is contained in:
Mathieu Labbe
@@ -6,7 +6,7 @@
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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@@ -47,6 +47,6 @@
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<param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
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<!-- Visualisation -->
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<include file="$(find rtabmap)/launch/azimut3/az3_mapping_client.launch"/>
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_mapping_client.launch"/>
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</launch>
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@@ -16,7 +16,7 @@
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<node pkg="joy" type="joy_node" name="joystick"/>
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<!-- OpenNI -->
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<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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@@ -7,7 +7,7 @@
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<include file="$(find az3_bringup)/joystick.launch"/>
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<!-- OpenNI -->
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<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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@@ -24,7 +24,7 @@
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</node>
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</group>
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<node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
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<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
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<param name="output_file_name" value="az3_record.db" type="string"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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@@ -12,12 +12,12 @@
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<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_relay"/>
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<remap from="grid_map" to="rtabmap/grid_map"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz"/>
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<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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@@ -8,7 +8,7 @@
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
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<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_nav.rviz"/>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3_nav.rviz"/>
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<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
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@@ -5,5 +5,5 @@
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/stereo_camera/left/image_rect_color raw out:=/stereo_camera/left/image_rect_color_relay" />
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3_stereo_nav.rviz"/>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3_stereo_nav.rviz"/>
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</launch>
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@@ -6,7 +6,7 @@
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- OpenNI -->
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<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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@@ -26,7 +26,7 @@
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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@@ -6,7 +6,7 @@
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- OpenNI -->
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<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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@@ -26,7 +26,7 @@
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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@@ -9,10 +9,10 @@
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<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
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<!-- use same launch file as "Kinect + Odometry" configuration -->
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<include file="$(find rtabmap)/launch/azimut3/az3_mapping_robot_kinect_odom.launch"/>
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_mapping_robot_kinect_odom.launch"/>
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<!-- Odometry -->
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<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
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<node pkg="rtabmap_ros" type="visual_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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@@ -6,7 +6,7 @@
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- OpenNI -->
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<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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@@ -33,7 +33,7 @@
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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@@ -43,7 +43,7 @@
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<!-- OpenNI -->
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<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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@@ -74,7 +74,7 @@
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<!-- SLAM (robot side) -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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@@ -134,11 +134,11 @@
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<param name="RGBD/ToroIterations" type="string" value="0"/>
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</node>
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<!-- to always have the global map optimized -->
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
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<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
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</group>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_optimized"/>
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<remap from="grid_map" to="map"/>
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</node>
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@@ -25,11 +25,11 @@
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<remap from="move_base_simple/goal" to="/planner_goal"/>
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find rtabmap)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find rtabmap)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find rtabmap)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find rtabmap)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find rtabmap)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
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<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
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</node>
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<param name="cmd_vel/abtr_priority" value="10"/>
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@@ -109,7 +109,7 @@
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</group>
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<!-- Visual Odometry -->
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<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
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<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
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<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
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<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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@@ -130,7 +130,7 @@
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<group ns="rtabmap">
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<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_stereo" type="bool" value="true"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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@@ -165,9 +165,9 @@
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</node>
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<!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
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<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
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<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
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<node pkg="rtabmap" type="map_assembler" name="map_assembler">
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<node pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
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<param name="occupancy_grid" type="bool" value="true"/>
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<remap from="mapData" to="mapData_optimized"/>
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<remap from="grid_projection_map" to="/map"/>
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@@ -5,9 +5,9 @@
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<include file="$(find openni2_launch)/launch/openni2.launch">
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<arg name="depth_registration" value="True" />
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<arg name="rgb_camera_info_url"
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value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
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value="file://$(find rtabmap_ros)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
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<arg name="depth_camera_info_url"
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value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
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value="file://$(find rtabmap_ros)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
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</include>
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<!-- Xtion frame -->
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@@ -1,9 +1,9 @@
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<launch>
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<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
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<param name="gui" value="true" type="bool"/>
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<param name="settings_path" value="$(find rtabmap)/launch/config/azimut3_find_object.ini" type="str"/>
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<param name="settings_path" value="$(find rtabmap_ros)/launch/config/azimut3_find_object.ini" type="str"/>
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<param name="subscribe_depth" value="true" type="bool"/>
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<param name="objects_path" value="$(find rtabmap)/launch/config/books" type="str"/>
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<param name="objects_path" value="$(find rtabmap_ros)/launch/config/books" type="str"/>
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<remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
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<remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
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@@ -6,7 +6,7 @@
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- OpenNI -->
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<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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@@ -15,7 +15,7 @@
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<!-- SLAM client side -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<group ns="rtabmap">
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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@@ -49,10 +49,10 @@
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</node>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
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<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
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</group>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz"/>
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<!-- Below, construct point cloud of the latest throttled data -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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