mirror of
https://github.com/introlab/rtabmap_ros.git
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56 lines
2.1 KiB
XML
56 lines
2.1 KiB
XML
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<launch>
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<!-- Testing 2 Kinects localizing in the same map at the same time -->
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<!-- Prerequisities: the default ~/.ros/rtabmap.db should be
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already created with one of the Kinect using mapping tutorial:
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http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
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$ roslaunch freenect_launch freenect.launch depth_registration:=true
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$ roslaunch rtabmap_ros rtabmap.launch args:="-d"
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-->
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<!-- Cameras -->
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<include file="$(find freenect_launch)/launch/freenect.launch">
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<arg name="depth_registration" value="True" />
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<arg name="camera" value="camera1" />
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<arg name="device_id" value="#1" />
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</include>
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<include file="$(find freenect_launch)/launch/freenect.launch">
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<arg name="depth_registration" value="True" />
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<arg name="camera" value="camera2" />
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<arg name="device_id" value="#2" />
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</include>
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<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg name="namespace" value="rtabmap1"/>
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<arg name="localization" value="true" />
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<arg name="frame_id" value="camera1_link" />
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<arg name="vo_frame_id" value="odom1" />
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<arg name="rgb_topic" value="/camera1/rgb/image_rect_color" />
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<arg name="depth_topic" value="/camera1/depth_registered/image_raw" />
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<arg name="camera_info_topic" value="/camera1/rgb/camera_info" />
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<arg name="rtabmapviz" value="false"/>
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</include>
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<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
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<arg name="namespace" value="rtabmap2"/>
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<arg name="localization" value="true" />
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<arg name="frame_id" value="camera2_link" />
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<arg name="vo_frame_id" value="odom2" />
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<arg name="rgb_topic" value="/camera2/rgb/image_rect_color" />
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<arg name="depth_topic" value="/camera2/depth_registered/image_raw" />
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<arg name="camera_info_topic" value="/camera2/rgb/camera_info" />
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<arg name="rtabmapviz" value="false"/>
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</include>
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<!-- Visualization RVIZ -->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
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</launch>
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