mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
09a1e0a7f2
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@863 f169173b-cf89-36c8-b27e-44dbe73f0c83
29 lines
1.3 KiB
XML
29 lines
1.3 KiB
XML
<launch>
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<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="config_path" value="~/.rtabmap/demo.ini" type="string"/>
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<param name="working_directory" value="~/.rtabmap" type="string"/>
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</node>
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<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen"
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args="-d ~/.rtabmap/demo.ini"/>
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<!-- uimage pkg is from the UtiLite stack : svn checkout http://utilite.googlecode.com/svn/trunk/ros-pkg utilite -->
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<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
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<node name="camera" pkg="uimage" type="camera" output="screen">
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<remap from="/camera/image" to="/image"/>
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<param name="device_id" value="0" type="int"/>
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<param name="video_or_images_path" value="$(find rtabmap_lib)/build/rtabmap-svn/bin/data/samples" type="string"/>
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<param name="frame_rate" value="2.0" type="double"/>
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<param name="width" value="0" type="int"/>
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<param name="height" value="0" type="int"/>
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<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
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</node>
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</launch>
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