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updated which launch files are installed, updated multi-session launch file

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Mathieu Labbe
2015-01-26 17:15:39 -05:00
parent b2632f9d1b
commit f64557a755
2 changed files with 36 additions and 10 deletions
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CMakeLists.txt
-2
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@@ -220,9 +220,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
## Mark other files for installation (e.g. launch and bag files, etc.) ## Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES install(FILES
launch/rgbd_mapping.launch launch/rgbd_mapping.launch
launch/rgbd_mapping_rviz.launch
launch/rgbd_localization.launch launch/rgbd_localization.launch
launch/rgbd_localization_rviz.launch
launch/data_recorder.launch launch/data_recorder.launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
) )
launch/demo/demo_multi-session_mapping.launch
+36 -8
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@@ -2,9 +2,15 @@
<launch> <launch>
<!-- MULTI-SESSION MAPPING VERSION --> <!-- MULTI-SESSION MAPPING VERSION -->
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<param name="use_sim_time" type="bool" value="True"/> <param name="use_sim_time" type="bool" value="True"/>
<group ns="rtabmap">
<!-- SLAM (robot side) --> <!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" --> <!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args=""> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
@@ -16,9 +22,9 @@
<remap from="odom" to="/base_controller/odom"/> <remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/> <remap from="scan" to="/base_scan"/>
<remap from="rgb/image" to="data_throttled_image"/> <remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/> <remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/> <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/> <param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/> <param name="depth/image_transport" type="string" value="compressedDepth"/>
@@ -47,21 +53,43 @@
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree --> <param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node> </node>
<!-- Visualisation (client side) --> <!-- Visualisation RTAB-Map -->
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen"> <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/> <param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/> <param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<remap from="rgb/image" to="data_throttled_image"/> <remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/> <remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/> <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<remap from="scan" to="/base_scan"/> <remap from="scan" to="/base_scan"/>
<remap from="odom" to="/base_controller/odom"/> <remap from="odom" to="/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/> <param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/> <param name="depth/image_transport" type="string" value="compressedDepth"/>
</node> </node>
<!-- Grid map assembler for rviz -->
<node if="$(arg rviz)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
<param name="unknown_space_filled" type="bool" value="false"/>
</node>
</group>
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<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"/>
<remap from="cloud" to="voxel_cloud" />
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
</launch> </launch>