mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
41 lines
1.6 KiB
XML
41 lines
1.6 KiB
XML
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<launch>
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<!-- Localization-only mode -->
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<arg name="localization" default="false"/>
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<arg if="$(arg localization)" name="rtabmap_args" default=""/>
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<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
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<!-- "Disable" odometry from azimut3 -->
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<group ns="base_controller">
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<param name="odom_frame_id" type="string" value="az3_odom"/>
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<param name="base_frame_id" type="string" value="az3_base_link"/>
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</group>
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<remap from="/base_controller/odom" to="/base_controller/az3_odom"/>
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<!-- use same launch file as "Kinect + Odometry" configuration -->
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_nav_kinect_odom.launch">
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<arg name="localization" value="$(arg localization)"/>
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<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
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</include>
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<!-- Odometry -->
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<group ns="rtabmap">
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<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
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<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
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<remap from="odom" to="/base_controller/odom"/>
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<param name="Vis/MinInliers" type="string" value="10"/>
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<param name="Vis/InlierDistance" type="string" value="0.1"/>
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<param name="Vis/MaxDepth" type="string" value="4"/>
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<param name="Reg/Force3DoF" type="string" value="true"/>
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<param name="frame_id" type="string" value="base_footprint"/>
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</node>
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</group>
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</launch>
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