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Updated rtabmap_examples launch files with new structure

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matlabbe
2023-03-04 15:40:17 -08:00
parent a7675b7c09
commit f5f6097a20
41 changed files with 245 additions and 144 deletions
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rtabmap_examples/launch/test_map_optimizer.launch
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<?xml version="1.0"?>
<launch>
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="
--delete_db_on_start
--RGBD/OptimizeMaxError 0
--Optimizer/Iterations 0
--RGBD/ProximityBySpace false"/>
<arg name="rtabmap_viz" value="false"/>
</include>
<group ns="rtabmap">
<node pkg="rtabmap_util" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" output="screen">
<remap from="mapData" to="mapData_optimized"/>
<param name="frame_id" value="camera_link"/>
<param name="subscribe_depth" value="false"/>
</node>
<node pkg="rtabmap_util" type="map_assembler" name="map_assembler">
<remap from="mapData" to="mapData_optimized"/>
</node>
</group>
</launch>