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Updated stereo_mapping.launch with stereo_namespace argument

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matlabbe
2015-09-14 15:09:33 -04:00
parent ac0701c29f
commit fc082ccb1c
1 changed files with 5 additions and 4 deletions
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launch/stereo_mapping.launch
+5 -4
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@@ -19,10 +19,11 @@
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="left_image_topic" default="/stereo_camera/left/image_rect_color" />
<arg name="right_image_topic" default="/stereo_camera/right/image_rect" /> <!-- using grayscale image for efficiency -->
<arg name="left_camera_info_topic" default="/stereo_camera/left/camera_info" />
<arg name="right_camera_info_topic" default="/stereo_camera/right/camera_info" />
<arg name="stereo_namespace" default="/stereo_camera"/>
<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<arg name="approximate_sync" default="false"/> <!-- if timestamps of the stereo images are not synchronized -->
<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->