mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
6c008429b9
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
59 lines
2.3 KiB
XML
59 lines
2.3 KiB
XML
|
|
<launch>
|
|
|
|
<!-- RGB-D MAPPING VERSION -->
|
|
<!-- WARNING : Database is automatically deleted on each startup -->
|
|
<!-- See "delete_db_on_start" option below... -->
|
|
|
|
<!-- Kinect -->
|
|
<include file="$(find openni_launch)/launch/openni.launch">
|
|
<arg name="depth_registration" value="True" />
|
|
</include>
|
|
|
|
<!-- TF FRAMES -->
|
|
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
|
|
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
|
|
|
|
<!-- Odometry -->
|
|
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
|
|
<remap from="rgb/image" to="camera/rgb/image_color"/>
|
|
<remap from="depth/image" to="camera/depth_registered/image_raw"/>
|
|
<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
|
|
|
|
<param name="frame_id" type="string" value="base_link"/>
|
|
</node>
|
|
|
|
<group ns="rtabmap">
|
|
|
|
<!-- Visual SLAM (robot side) -->
|
|
<!-- args: "delete_db_on_start" and "udebug" -->
|
|
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
|
|
<param name="subscribe_depth" type="bool" value="true"/>
|
|
<param name="subscribe_laserScan" type="bool" value="false"/>
|
|
|
|
<remap from="rgb/image" to="/camera/rgb/image_color"/>
|
|
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
|
|
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
|
|
<remap from="odom" to="/odom"/>
|
|
|
|
<param name="queue_size" type="int" value="30"/>
|
|
</node>
|
|
|
|
<!-- Visualisation (client side) -->
|
|
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
|
|
<param name="subscribe_depth" type="bool" value="true"/>
|
|
<param name="subscribe_laserScan" type="bool" value="false"/>
|
|
<param name="queue_size" type="int" value="30"/>
|
|
|
|
<remap from="rgb/image" to="/camera/rgb/image_color"/>
|
|
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
|
|
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
|
|
<remap from="odom" to="/odom"/>
|
|
|
|
<remap from="reset_odom" to="/reset_odom"/> <!-- to call rtabmap/visual_odometry "reset_odom" service -->
|
|
</node>
|
|
|
|
</group>
|
|
|
|
</launch>
|