mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
259c8ec7a5
-now using uvc_camera (OpenCV capture is no longer supported in ROS : https://code.ros.org/trac/ros-pkg/ticket/4980) -Added image_rate parameter in imageToSensorimotorState Fixed synchronization in InputNode, between image (1Hz) and actions (10Hz) Updated launch files git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@306 f169173b-cf89-36c8-b27e-44dbe73f0c83
39 lines
1.5 KiB
XML
39 lines
1.5 KiB
XML
<launch>
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<!-- RTAB-MAP SENSORY-MOTOR 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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<!-- Nodes -->
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<!-- cmd_vel_a has priority on cmd_vel_b -->
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<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity_node">
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<remap from="cmd_vel_a" to="user/cmd_vel" />
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<remap from="cmd_vel_b" to="rtabmap/cmd_vel" />
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<remap from="cmd_vel" to="cmd_vel" />
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</node>
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<node name="rtabmap_output" pkg="rtabmap" type="output_node">
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<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
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<remap from="rtabmap_info" to="rtabmap_info" />
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<remap from="rtabmap_info_x" to="rtabmap_info_x" />
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</node>
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<node name="rtabmap_core" pkg="rtabmap" type="core_node" output="screen" args="--delete_db_on_start">
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<remap from="sm_state" to="sm_state" />
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<remap from="rtabmap_info" to="rtabmap_info" />
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<remap from="rtabmap_info_x" to="rtabmap_info_x" />
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</node>
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<node name="rtabmap_input" pkg="rtabmap" type="input_node">
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<remap from="/cmd_vel" to="/cmd_vel" />
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<remap from="/sm_state" to="/sm_state" />
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<remap from="/camera_data" to="/camera_data" />
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</node>
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<node name="image_to_sms" pkg="rtabmap" type="image_to_sms_node">
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<param name="image_rate" value="1" type="int"/>
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<param name="resize_image_width" value="640" type="int"/>
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<param name="resize_image_height" value="480" type="int"/>
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<remap from="/image_raw" to="/image_raw" />
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<remap from="/sm_state" to="/camera_data" />
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</node>
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</launch> |