mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
0c42d16063
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1674 f169173b-cf89-36c8-b27e-44dbe73f0c83
47 lines
1.8 KiB
XML
47 lines
1.8 KiB
XML
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<launch>
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<!-- record data to RTAB-Map database format (like a ROS bag, but usable in RTAB-Map for Windows/Mac OS X) -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<include file="$(find az3_bringup)/joystick.launch"/>
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<!-- OpenNI -->
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<include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
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<param name="max_rate" type="double" value="10.0"/>
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<remap from="rgb/image_in" to="rgb/image_rect_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="rgb/camera_info"/>
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<remap from="rgb/image_out" to="data_throttled_image"/>
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<remap from="depth/image_out" to="data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
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</node>
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</group>
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<node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
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<param name="output_file_name" value="az3_record.db" type="string"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="subscribe_odometry" type="bool" value="true"/>
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_laserScan" type="bool" value="true"/>
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<remap from="odom" to="/base_controller/odom"/>
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<remap from="scan" to="/base_scan"/>
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<remap from="rgb/image" to="camera/data_throttled_image"/>
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<remap from="depth/image" to="camera/data_throttled_image_depth"/>
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<remap from="rgb/camera_info" to="camera/data_throttled_camera_info"/>
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<param name="queue_size" type="int" value="10"/>
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</node>
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</launch>
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