mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
38 lines
2.1 KiB
XML
38 lines
2.1 KiB
XML
|
|
<launch>
|
|
|
|
<!-- Choose visualization -->
|
|
<arg name="rviz" default="true" />
|
|
<arg name="rtabmapviz" default="false" />
|
|
|
|
<group ns="rtabmap">
|
|
<!-- Visualisation RTAB-Map -->
|
|
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
|
|
<param name="queue_size" type="int" value="10"/>
|
|
<param name="frame_id" type="string" value="base_footprint"/>
|
|
<remap from="odom" to="/base_controller/odom"/>
|
|
</node>
|
|
</group>
|
|
|
|
<!-- Visualisation RVIZ -->
|
|
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
|
|
|
|
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
|
|
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
|
|
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
|
|
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
|
|
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
|
|
<remap from="cloud" to="voxel_cloud" />
|
|
|
|
<param name="queue_size" type="int" value="10"/>
|
|
<param name="voxel_size" type="double" value="0.01"/>
|
|
</node>
|
|
|
|
<!-- use a relay on this machine, same for images -->
|
|
<node if="$(arg rviz)" name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
|
|
<node if="$(arg rviz)" name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
|
|
<node if="$(arg rviz)" name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
|
|
<node if="$(arg rviz)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
|
|
|
|
</launch>
|