mirror of
https://github.com/introlab/rtabmap_ros.git
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26 lines
966 B
XML
26 lines
966 B
XML
<?xml version="1.0"?>
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<launch>
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<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
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<arg name="rtabmap_args" value="
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--delete_db_on_start
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--RGBD/OptimizeMaxError 0
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--Optimizer/Iterations 0
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--RGBD/ProximityBySpace false"/>
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<arg name="rtabmap_viz" value="false"/>
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</include>
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<group ns="rtabmap">
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<node pkg="rtabmap_util" type="map_optimizer" name="map_optimizer"/>
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<node pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" output="screen">
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<remap from="mapData" to="mapData_optimized"/>
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<param name="frame_id" value="camera_link"/>
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<param name="subscribe_depth" value="false"/>
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</node>
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<node pkg="rtabmap_util" type="map_assembler" name="map_assembler">
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<remap from="mapData" to="mapData_optimized"/>
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</node>
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</group>
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</launch>
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