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19 lines
750 B
XML
19 lines
750 B
XML
<launch>
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<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg name="rtabmap_args" value="
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--delete_db_on_start
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--RGBD/OptimizeMaxError 0
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--Optimizer/Iterations 0
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--RGBD/ProximityBySpace false"/>
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<arg name="rtabmapviz" value="false"/>
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</include>
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<group ns="rtabmap">
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<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
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<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
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<remap from="mapData" to="mapData_optimized"/>
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<param name="subscribe_depth" value="false"/>
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</node>
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</group>
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</launch> |