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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_rgbd_image.launch
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<?xml version="1.0"?>
<launch>
<!-- Kinect: -->
<include file="$(find freenect_launch)/launch/freenect.launch">
<arg name="depth_registration" value="true" />
</include>
<arg name="compressed" default="false"/>
<arg name="compressed_rate" default="0"/>
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_sync/rgbd_sync camera_nodelet_manager" output="screen">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<param name="compressed_rate" value="$(arg compressed_rate)"/>
</node>
</group>
<!-- Nodes -->
<group ns="rtabmap">
<!-- RGB-D Odometry -->
<node pkg="rtabmap_odom" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<param name="subscribe_rgbd" type="bool" value="true"/>
<remap if="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image/compressed"/>
<remap unless="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image"/>
<param name="Odom/AlignWithGround" type="string" value="true"/>
<param name="frame_id" type="string" value="camera_link"/>
</node>
<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="approx_sync" type="string" value="false"/>
<remap if="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image/compressed"/>
<remap unless="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image"/>
</node>
<node pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" output="screen">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="approx_sync" type="string" value="false"/>
<remap if="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image/compressed"/>
<remap unless="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
</node>
</group>
</launch>