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https://github.com/introlab/rtabmap_ros.git
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30 lines
1.2 KiB
XML
30 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- Use stereo_outdoorA.bag for testing -->
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<include file="$(find rtabmap_demos)/launch/demo_stereo_outdoor.launch"/>
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<group ns="/stereo_camera" >
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<node pkg="nodelet" type="nodelet" name="obstacles_manager" args="manager"/>
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<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_util/point_cloud_xyz obstacles_manager">
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<remap from="disparity/image" to="disparity"/>
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<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
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<remap from="cloud" to="cloudXYZ"/>
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<param name="voxel_size" type="double" value="0.05"/>
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<param name="decimation" type="int" value="4"/>
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<param name="max_depth" type="double" value="4"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_util/obstacles_detection obstacles_manager">
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<remap from="cloud" to="cloudXYZ"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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<param name="wait_for_transform" type="bool" value="true"/>
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<param name="min_cluster_size" type="int" value="20"/>
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<param name="max_obstacles_height" type="double" value="0.0"/>
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</node>
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</group>
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</launch>
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