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Updated main launch files for 0.11

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matlabbe
2016-03-11 16:57:49 -05:00
parent af87689718
commit fdbac13a77
4 changed files with 63 additions and 61 deletions
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launch/rtabmap.launch
+2 -2
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@@ -76,7 +76,7 @@
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -93,7 +93,7 @@
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>