mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
c0b0219e9e
-visual_odometry node is now called rgbd_odometry -added stereo_odometry node with test launch files -updated launch files accordingly to modified parameter names, default values or new parameters git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1850 f169173b-cf89-36c8-b27e-44dbe73f0c83
26 lines
1.1 KiB
XML
26 lines
1.1 KiB
XML
<launch>
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<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
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<param name="video_mode" value="format7_mode3" />
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<param name="format7_color_coding" value="raw16" />
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<param name="bayer_pattern" value="bggr" />
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<param name="bayer_method" value="" />
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<param name="stereo_method" value="Interlaced" />
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<param name="camera_info_url_left" value="" />
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<param name="camera_info_url_right" value="" />
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</node>
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<arg name="pi/2" value="1.5707963267948966" />
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<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
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<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
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args="$(arg optical_rotate) base_link stereo_camera 100" />
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<!-- Run the ROS package stereo_image_proc -->
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<group ns="/stereo_camera" >
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
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<node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap/disparity_to_depth"/>
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</group>
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</launch> |