mirror of
https://github.com/introlab/rtabmap_ros.git
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48 lines
2.4 KiB
XML
48 lines
2.4 KiB
XML
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<launch>
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<!-- Choose visualization -->
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<arg name="rviz" default="true" />
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<arg name="rtabmapviz" default="false" />
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<arg name="sub_data" default="false"/>
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<!-- use a relay on this machine -->
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay">
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<param name="lazy" type="bool" value="true"/>
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</node>
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<node if="$(arg sub_data)" name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay">
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<param name="lazy" type="bool" value="true"/>
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</node>
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<node if="$(arg sub_data)" name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_resized_image raw out:=/camera/data_resized_image_relay" />
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<node if="$(arg sub_data)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_resized_image_depth raw out:=/camera/data_resized_image_depth_relay" />
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<node if="$(arg sub_data)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
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<remap from="rgb/image" to="/camera/data_resized_image_relay"/>
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<remap from="depth/image" to="/camera/data_resized_image_depth_relay"/>
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<remap from="rgb/camera_info" to="/camera/data_resized_camera_info"/>
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<remap from="cloud" to="/voxel_cloud" />
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</node>
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<group ns="rtabmap">
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="queue_size" type="int" value="10"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<remap from="odom" to="/base_controller/odom"/>
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<remap from="mapData" to="mapData_relay"/>
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<param name="subscribe_depth" type="bool" value="$(arg sub_data)"/>
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<remap from="rgb/image" to="/camera/data_resized_image_relay"/>
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<remap from="depth/image" to="/camera/data_resized_image_depth_relay"/>
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<remap from="rgb/camera_info" to="/camera/data_resized_camera_info"/>
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<param name="subscribe_laserScan" type="bool" value="$(arg sub_data)"/>
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<remap from="scan" to="/base_scan_relay"/>
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</node>
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</group>
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<!-- Visualisation RVIZ -->
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<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
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</launch>
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