mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
56 lines
2.5 KiB
XML
56 lines
2.5 KiB
XML
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<launch>
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<!-- Kinect: -->
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<include file="$(find freenect_launch)/launch/freenect.launch">
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<arg name="depth_registration" value="true" />
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</include>
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<arg name="compressed" default="false"/>
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<arg name="compressed_rate" default="0"/>
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager" output="screen">
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<remap from="rgb/image" to="rgb/image_rect_color"/>
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<remap from="depth/image" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="rgb/camera_info"/>
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<param name="compressed_rate" value="$(arg compressed_rate)"/>
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</node>
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</group>
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<!-- Nodes -->
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<group ns="rtabmap">
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<!-- RGB-D Odometry -->
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<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<remap if="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image/compressed"/>
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<remap unless="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image"/>
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<param name="Odom/AlignWithGround" type="string" value="true"/>
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<param name="frame_id" type="string" value="camera_link"/>
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</node>
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="frame_id" type="string" value="camera_link"/>
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<param name="approx_sync" type="string" value="false"/>
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<remap if="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image/compressed"/>
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<remap unless="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image"/>
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</node>
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<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="frame_id" type="string" value="camera_link"/>
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<param name="approx_sync" type="string" value="false"/>
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<remap if="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image/compressed"/>
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<remap unless="$(arg compressed)" from="rgbd_image" to="/camera/rgbd_image"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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</node>
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</group>
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</launch>
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