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Merged Audio branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2012-06-24 17:19:34 +00:00
parent 6de31a4080
commit ffcfa9236c
79 changed files with 3608 additions and 1349 deletions
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rtabmap/launch/test_learning_image_twist.launch
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<launch>
<!-- when rosbag ... "rosbag play -.-clock my.bag"-->
<param name="use_sim_time" type="bool" value="True"/>
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<remap from="/image" to="/image_not_used"/> <!-- Just to make sure that rtabmap does not subscribe
to camera image, here we use sensorimotor input -->
<remap from="sensorimotor" to="sensorimotor" />
<remap from="rtabmap/info" to="rtabmap/info" />
<remap from="rtabmap/info_x" to="rtabmap/info_x" />
</node>
<node name="rtabmap_out" pkg="rtabmap" type="rtabmap_out">
<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
<remap from="rtabmap/info" to="rtabmap/info" />
<remap from="rtabmap/info_x" to="rtabmap/info_x" />
</node>
<!-- Arbitration -->
<!-- cmd_vel_a has priority on cmd_vel_b -->
<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity">
<param name="commands_hz" value="10.0" type="double"/>
<param name="cmd_vel_a_buffered" value="false" type="bool"/>
<param name="cmd_vel_b_buffered" value="true" type="bool"/>
<param name="stats_logged" value="false" type="bool"/>
<remap from="cmd_vel_a" to="user/cmd_vel" />
<remap from="cmd_vel_b" to="rtabmap/cmd_vel" />
<remap from="cmd_vel" to="cmd_vel" />
</node>
<!-- INPUT NODE -->
<node name="my_input_node" pkg="rtabmap" type="input_image_twist_node">
<remap from="cmd_vel" to="cmd_vel"/>
<remap from="image" to="image_local_polar_reconstructed"/>
</node>
</launch>