mirror of
https://github.com/introlab/rtabmap_ros.git
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84 lines
4.7 KiB
XML
84 lines
4.7 KiB
XML
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<launch>
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<!-- Backward compatibility launch file, use "rtabmap.launch rgbd:=false stereo:=true" instead -->
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<!-- Your camera should be calibrated and publishing rectified left and right
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images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
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Example:
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$ roslaunch rtabmap_ros bumblebee.launch -->
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<!-- Choose visualization -->
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<arg name="rtabmapviz" default="true" />
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<arg name="rviz" default="false" />
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<!-- Localization-only mode -->
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<arg name="localization" default="false"/>
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<!-- Corresponding config files -->
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<arg name="rtabmapviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
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<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
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<arg name="frame_id" default="base_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
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<arg name="database_path" default="~/.ros/rtabmap.db"/>
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<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
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<arg name="launch_prefix" default=""/>
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<arg name="approx_sync" default="false"/> <!-- if timestamps of the input topics are not synchronized -->
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<arg name="stereo_namespace" default="/stereo_camera"/>
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<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
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<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
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<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
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<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
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<arg name="compressed" default="false"/>
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<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
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<arg name="scan_topic" default="/scan"/>
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<arg name="subscribe_scan_cloud" default="false"/> <!-- Assuming 3D scan if set -->
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<arg name="scan_cloud_topic" default="/scan_cloud"/>
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<arg name="visual_odometry" default="true"/> <!-- Generate visual odometry -->
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<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
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<arg name="odom_frame_id" default=""/> <!-- If set, TF is used to get odometry instead of the topic -->
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<arg name="namespace" default="rtabmap"/>
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<arg name="wait_for_transform" default="0.2"/>
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<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg name="stereo" value="true"/>
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<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
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<arg name="rviz" value="$(arg rviz)" />
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<arg name="localization" value="$(arg localization)"/>
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<arg name="gui_cfg" value="$(arg rtabmapviz_cfg)" />
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<arg name="rviz_cfg" value="$(arg rviz_cfg)" />
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<arg name="frame_id" value="$(arg frame_id)"/>
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<arg name="namespace" value="$(arg namespace)"/>
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<arg name="database_path" value="$(arg database_path)"/>
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<arg name="wait_for_transform" value="$(arg wait_for_transform)"/>
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<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
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<arg name="launch_prefix" value="$(arg launch_prefix)"/>
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<arg name="approx_sync" value="$(arg approx_sync)"/>
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<arg name="stereo_namespace" value="$(arg stereo_namespace)"/>
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<arg name="left_image_topic" value="$(arg left_image_topic)" />
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<arg name="right_image_topic" value="$(arg right_image_topic)" />
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<arg name="left_camera_info_topic" value="$(arg left_camera_info_topic)" />
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<arg name="right_camera_info_topic" value="$(arg right_camera_info_topic)" />
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<arg name="compressed" value="$(arg compressed)"/>
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<arg name="subscribe_scan" value="$(arg subscribe_scan)"/>
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<arg name="scan_topic" value="$(arg scan_topic)"/>
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<arg name="subscribe_scan_cloud" value="$(arg subscribe_scan_cloud)"/>
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<arg name="scan_cloud_topic" value="$(arg scan_cloud_topic)"/>
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<arg name="visual_odometry" value="$(arg visual_odometry)"/>
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<arg name="odom_topic" value="$(arg odom_topic)"/>
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<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
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<arg name="odom_args" value="$(arg rtabmap_args)"/>
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</include>
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</launch>
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