mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Mathieu Labbe
dfe5cff0c0
Moved all nodelets and rviz plugins in "rtabmap_ros" namespace instead of "rtabmap" Refactored rtabmap_ros messages (added convenient conversion methods in rtabmap_ros/MsgConversion.h) Added noise filtering parameters for map_assembler node Added variance parameter for map_optimizer node Odometry nodes publish covariance matrices in odometry messages. Publish rtambap_ros::OdomInfo topic too.
28 lines
1.0 KiB
XML
28 lines
1.0 KiB
XML
|
|
<launch>
|
|
|
|
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
|
|
<include file="$(find az3_bringup)/az3_standalone.launch"/>
|
|
<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
|
|
|
|
<!-- OpenNI -->
|
|
<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
|
|
|
|
<!-- Throttling messages -->
|
|
<group ns="camera">
|
|
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
|
|
<param name="max_rate" type="double" value="5.0"/>
|
|
|
|
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
|
|
<remap from="depth/image_in" to="depth_registered/image_raw"/>
|
|
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
|
|
|
|
<remap from="rgb/image_out" to="data_throttled_image"/>
|
|
<remap from="depth/image_out" to="data_throttled_image_depth"/>
|
|
<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
|
|
</node>
|
|
</group>
|
|
|
|
<!-- SLAM is done on client side...-->
|
|
</launch>
|