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updated launch files for new pkg path rtabmap_ros instead of rtabmap

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Mathieu Labbe
2014-11-25 17:43:26 -05:00
parent 28fbd1eb97
commit f2ed77f626
34 changed files with 87 additions and 87 deletions
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launch/azimut3/az3_mapping_robot_stereo_nav.launch
+9 -9
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@@ -25,11 +25,11 @@
<remap from="move_base_simple/goal" to="/planner_goal"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find rtabmap)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
@@ -109,7 +109,7 @@
</group>
<!-- Visual Odometry -->
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
@@ -130,7 +130,7 @@
<group ns="rtabmap">
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
@@ -165,9 +165,9 @@
</node>
<!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap" type="map_assembler" name="map_assembler">
<node pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
<param name="occupancy_grid" type="bool" value="true"/>
<remap from="mapData" to="mapData_optimized"/>
<remap from="grid_projection_map" to="/map"/>