mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
6fe89ac67b
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1563 f169173b-cf89-36c8-b27e-44dbe73f0c83
39 lines
1.5 KiB
XML
39 lines
1.5 KiB
XML
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<launch>
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<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
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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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<!-- Xtion -->
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<include file="$(find openni2_launch)/launch/openni2.launch">
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<arg name="depth_registration" value="True" />
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<arg name="rgb_camera_info_url"
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value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
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<arg name="depth_camera_info_url"
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value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
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</include>
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<!-- Xtion frame -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
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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="5.0"/>
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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="depth_registered/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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<!-- SLAM is done on client side...-->
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</launch>
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