mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +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.
41 lines
1.7 KiB
XML
41 lines
1.7 KiB
XML
|
|
<launch>
|
|
<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
|
|
<param name="output_file_name" value="output.db" type="string"/>
|
|
|
|
<param name="frame_id" type="string" value="camera_link"/>
|
|
|
|
<param name="subscribe_odometry" type="bool" value="false"/>
|
|
<param name="subscribe_depth" type="bool" value="true"/>
|
|
<param name="subscribe_laserScan" type="bool" value="false"/>
|
|
|
|
<remap from="rgb/image" to="data_throttled_image"/>
|
|
<remap from="depth/image" to="data_throttled_image_depth"/>
|
|
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
|
|
|
|
<param name="rgb/image_transport" type="string" value="raw"/>
|
|
<param name="depth/image_transport" type="string" value="raw"/>
|
|
|
|
<param name="queue_size" type="int" value="10"/>
|
|
</node>
|
|
|
|
<!-- Throttling messages -->
|
|
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
|
|
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle standalone_nodelet" output="screen">
|
|
<param name="max_rate" type="double" value="10.0"/>
|
|
|
|
<remap from="rgb/image_in" to="/camera/rgb/image_rect_color"/>
|
|
<remap from="depth/image_in" to="/camera/depth_registered/image_raw"/>
|
|
<remap from="rgb/camera_info_in" to="/camera/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>
|
|
|
|
<node pkg="image_view" type="image_view" name="image_view">
|
|
<remap from="image" to="/camera/depth_registered/image_raw"/>
|
|
</node>
|
|
|
|
</launch>
|