mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
1764c88f05
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1269 f169173b-cf89-36c8-b27e-44dbe73f0c83
32 lines
1.1 KiB
XML
32 lines
1.1 KiB
XML
|
|
<launch>
|
|
|
|
<!-- record data to RTAB-Map database format (like a ROS bag, but usable in RTAB-Map for Windows/Mac OS X) -->
|
|
<!-- This demo works with demo_mapping.bag -->
|
|
|
|
<param name="use_sim_time" type="bool" value="True"/>
|
|
|
|
<node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
|
|
<param name="output_file_name" value="output.db" type="string"/>
|
|
|
|
<param name="frame_id" type="string" value="base_footprint"/>
|
|
|
|
<param name="subscribe_odometry" type="bool" value="true"/>
|
|
<param name="subscribe_depth" type="bool" value="true"/>
|
|
<param name="subscribe_laserScan" type="bool" value="true"/>
|
|
|
|
<remap from="odom" to="/az3/base_controller/odom"/>
|
|
<remap from="scan" to="/jn0/base_scan"/>
|
|
|
|
<remap from="rgb/image" to="data_throttled_image"/>
|
|
<remap from="depth/image" to="data_throttled_image_depth"/>
|
|
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
|
|
|
|
<param name="rgb/image_transport" type="string" value="compressed"/>
|
|
<param name="depth/image_transport" type="string" value="compressedDepth"/>
|
|
|
|
<param name="queue_size" type="int" value="10"/>
|
|
</node>
|
|
|
|
</launch>
|