mirror of
https://github.com/introlab/rtabmap_ros.git
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74 lines
4.3 KiB
XML
74 lines
4.3 KiB
XML
<launch>
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<!-- arguments -->
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<arg name="subscribe_odometry" default="false"/>
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<arg name="subscribe_depth" default="true"/>
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<arg name="subscribe_stereo" default="false"/>
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<arg name="subscribe_laserScan" default="false"/>
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<arg name="stereo_approx_sync" default="false"/>
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<arg name="frame_id" default="camera_link"/>
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<arg name="odom_frame_id" default=""/> <!-- use topic when not set, otherwise use TF if set -->
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<arg name="output_path" default="output.db"/>
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<arg name="record_in_RAM" default="true"/>
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<arg name="queue_size" default="10"/>
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<arg name="max_rate" default="0"/> <!-- Record as fast as possible -->
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<arg name="rgb_topic" default="camera/rgb/image_rect_color"/>
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<arg name="rgb_info_topic" default="camera/rgb/camera_info"/>
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<arg name="depth_topic" default="camera/depth_registered/image_raw"/>
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<arg name="left_topic" default="camera/left/image_rect_color"/>
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<arg name="left_info_topic" default="camera/left/camera_info"/>
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<arg name="right_topic" default="camera/right/image_rect"/>
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<arg name="right_info_topic" default="camera/right/camera_info"/>
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<arg name="odom_topic" default="odom"/>
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<arg name="scan_topic" default="scan"/>
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<arg name="rgb_image_transport" default="raw"/>
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<arg name="depth_image_transport" default="raw"/>
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<node name="data_recorder" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<!-- Disable any processing -->
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<param name="Mem/RehearsalSimilarity" type="string" value="1.0"/> <!-- desactivate rehearsal -->
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<param name="Kp/WordsPerImage" type="string" value="-1"/> <!-- desactivate keypoints extraction -->
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<param name="Rtabmap/MaxRetrieved" type="string" value="0"/> <!-- desactivate global retrieval -->
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<param name="RGBD/MaxLocalRetrieved" type="string" value="0"/> <!-- desactivate local retrieval -->
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<param name="Rtabmap/MemoryThr" type="string" value="1"/> <!-- keep the WM empty -->
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<param name="Mem/STMSize" type="string" value="1"/> <!-- STM=1 -->
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<param name="publish_tf" type="bool" value="false"/> <!-- don't publish TF -->
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<param name="RGBD/LocalLoopDetectionSpace" type="bool" value="false"/>
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<param unless="$(arg subscribe_odometry)" name="RGBD/Enabled" type="string" value="false"/>
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<param name="Rtabmap/DetectionRate" type="string" value="$(arg max_rate)"/>
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<param name="DbSqlite3/InMemory" type="string" value="$(arg record_in_RAM)"/>
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<param name="database_path" type="string" value="$(arg output_path)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_depth" type="bool" value="$(arg subscribe_depth)"/>
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<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_laserScan)"/>
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<param name="subscribe_stereo" type="bool" value="$(arg subscribe_stereo)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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<param name="stereo_approx_sync" type="bool" value="$(arg stereo_approx_sync)"/>
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<!-- Hack to use a fake odom_frame_id=frame_id if subscribe_odometry = false -->
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<param if="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
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<param unless="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg frame_id)"/>
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<param name="rgb/image_transport" type="string" value="$(arg rgb_image_transport)"/>
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<param name="depth/image_transport" type="string" value="$(arg depth_image_transport)"/>
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<param name="left/image_transport" type="string" value="$(arg rgb_image_transport)"/>
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<param name="right/image_transport" type="string" value="$(arg rgb_image_transport)"/>
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="rgb/camera_info" to="$(arg rgb_info_topic)"/>
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<remap from="depth/image" to="$(arg depth_topic)"/>
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<remap from="left/image_rect" to="$(arg left_topic)"/>
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<remap from="left/camera_info" to="$(arg left_info_topic)"/>
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<remap from="right/image_rect" to="$(arg right_topic)"/>
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<remap from="right/camera_info" to="$(arg right_info_topic)"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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<remap from="odom" to="$(arg odom_topic)"/>
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</node>
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</launch>
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