mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
3d0e0f2592
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1448 f169173b-cf89-36c8-b27e-44dbe73f0c83
48 lines
2.2 KiB
XML
48 lines
2.2 KiB
XML
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<launch>
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<group ns="rtabmap">
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<!-- Visualisation (client side) -->
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<!-- Map assembler for rviz -->
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<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen">
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<param name="cloud_decimation" type="int" value="4"/>
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<param name="cloud_voxel_size" type="double" value="0.02"/>
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<param name="scan_voxel_size" type="double" value="0.01"/>
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</node>
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
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</group>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
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<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
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<remap from="rgb/image_in" to="/camera/data_throttled_image"/>
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<remap from="depth/image_in" to="/camera/data_throttled_image_depth"/>
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<remap from="rgb/camera_info_in" to="/camera/data_throttled_camera_info"/>
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<remap from="odom_in" to="/base_controller/odom"/>
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<remap from="rgb/image_out" to="data_odom_sync/image"/>
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<remap from="depth/image_out" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
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<remap from="odom_out" to="odom_sync"/>
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<param name="rgb/image_transport" type="string" value="compressed"/>
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<param name="depth/image_transport" type="string" value="compressedDepth"/>
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<param name="queue_size" type="int" value="30"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="data_odom_sync/image"/>
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<remap from="depth/image" to="data_odom_sync/depth"/>
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<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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