mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 01:07:49 +08:00
matlabbe
67de27b1ee
* Add rtabmap_msgs/SensorData * After testing fixes * Updated output topic name * added explicit --logconsole for nodelets * fixed intermediate nodes not generated * Refactored SyncDiagnostic usage to handle nodelet name * SyncDiagnostic: added TimeStampStatus. Odom: added new status when data not received yet * rtabmap: Fixed parameters not updated when using nodelet
192 lines
10 KiB
XML
192 lines
10 KiB
XML
<?xml version="1.0"?>
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<!--
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Examples with OAK-D camera.
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$ roslaunch depthai_examples stereo_inertial_node.launch depth_aligned:=false
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$ rosrun imu_filter_madgwick imu_filter_node \
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imu/data_raw:=/stereo_inertial_publisher/imu \
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imu/data:=/stereo_inertial_publisher/imu/data \
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_use_mag:=false \
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_publish_tf:=false
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Stereo:
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$ roslaunch rtabmap_examples test_sensor_data.launch \
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stereo:=true \
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left_topic:=/stereo_inertial_publisher/left/image_rect \
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right_topic:=/stereo_inertial_publisher/right/image_rect \
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left_info_topic:=/stereo_inertial_publisher/left/camera_info \
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right_info_topic:=/stereo_inertial_publisher/right/camera_info \
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imu_topic:=/stereo_inertial_publisher/imu/data \
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frame_id:=oak-d_frame \
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approx_sync:=true \
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approx_sync_max_interval:=0.001 \
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wait_imu_to_init:=true
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RGB-D:
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$ roslaunch rtabmap_examples test_sensor_data.launch \
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rgb_topic:=/stereo_inertial_publisher/right/image_rect \
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depth_topic:=/stereo_inertial_publisher/stereo/depth \
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camera_info_topic:=/stereo_inertial_publisher/right/camera_info \
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imu_topic:=/stereo_inertial_publisher/imu/data \
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frame_id:=oak-d_frame \
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approx_sync:=true \
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approx_sync_max_interval:=0.001 \
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wait_imu_to_init:=true
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-->
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<launch>
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<arg name="features_only" default="false"/>
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<arg name="compression_format" default=".jpg"/> <!-- ".jpg" or ".png" -->
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<arg name="parallel_compression" default="true"/>
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<arg name="use_nodelets" default="true"/>
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<arg name="stereo" default="false"/>
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<arg name="frame_id" default="camera_link"/>
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<arg name="rtabmap_args" default="--delete_db_on_start --logconsole"/> <!-- delete_db_on_start -->
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<arg name="odom_args" default="$(arg rtabmap_args)"/>
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<!-- RGB-D related topics -->
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<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
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<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
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<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
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<!-- Stereo related topics -->
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<arg name="left_topic" default="/camera/left/image_rect" />
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<arg name="right_topic" default="/camera/right/image_rect" />
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<arg name="left_info_topic" default="/camera/left/camera_info" />
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<arg name="right_info_topic" default="/camera/right/camera_info" />
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<arg name="imu_topic" default="/imu/data" />
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<arg name="wait_imu_to_init" default="false" />
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<arg name="approx_sync" default="$(eval not stereo)" />
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<arg name="approx_sync_max_interval" default="0" />
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<group ns="rtabmap">
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<!-- WITH NODELETS -->
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<group if="$(arg use_nodelets)">
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<node pkg="nodelet" type="nodelet" name="manager" args="manager" output="screen"/>
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<!-- Use Stereo synchronization -->
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<node if="$(arg stereo)" pkg="nodelet" type="nodelet" name="stereo_sync" args="load rtabmap_sync/stereo_sync manager">
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<remap from="left/image_rect" to="$(arg left_topic)"/>
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<remap from="right/image_rect" to="$(arg right_topic)"/>
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<remap from="left/camera_info" to="$(arg left_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_info_topic)"/>
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<param name="approx_sync" value="$(arg approx_sync)"/>
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<param name="approx_sync_max_interval" value="$(arg approx_sync_max_interval)"/>
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</node>
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<!-- Use RGBD synchronization -->
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<node unless="$(arg stereo)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_sync/rgbd_sync manager">
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="depth/image" to="$(arg depth_topic)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<param name="approx_sync" value="$(arg approx_sync)"/>
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<param name="approx_sync_max_interval" value="$(arg approx_sync_max_interval)"/>
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</node>
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<!-- Stereo Odometry -->
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<node if="$(arg stereo)" pkg="nodelet" type="nodelet" name="stereo_odometry" args="load rtabmap_odom/stereo_odometry manager $(arg odom_args)">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="keep_color" type="bool" value="true"/>
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<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
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<remap from="imu" to="$(arg imu_topic)"/>
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<param name="sensor_data_compression_format" value="$(arg compression_format)"/>
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<param name="sensor_data_parallel_compression" value="$(arg parallel_compression)"/>
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</node>
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<!-- RGB-D Odometry -->
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<node unless="$(arg stereo)" pkg="nodelet" type="nodelet" name="rgbd_odometry" args="load rtabmap_odom/rgbd_odometry manager $(arg odom_args)">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="keep_color" type="bool" value="true"/>
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<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
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<remap from="imu" to="$(arg imu_topic)"/>
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<param name="sensor_data_compression_format" value="$(arg compression_format)"/>
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<param name="sensor_data_parallel_compression" value="$(arg parallel_compression)"/>
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</node>
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<!-- RTAB-Map -->
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<node pkg="nodelet" type="nodelet" name="rtabmap" args="load rtabmap_slam/rtabmap manager $(arg rtabmap_args)">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_sensor_data" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<remap if="$(arg features_only)" from="sensor_data" to="odom_sensor_data/features"/>
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<remap unless="$(arg features_only)" from="sensor_data" to="odom_sensor_data/raw"/>
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</node>
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</group>
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<!-- WITHOUT NODELETS -->
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<group unless="$(arg use_nodelets)">
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<!-- Use Stereo synchronization -->
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<node if="$(arg stereo)" pkg="rtabmap_sync" type="stereo_sync" name="stereo_sync" output="screen">
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<remap from="left/image_rect" to="$(arg left_topic)"/>
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<remap from="right/image_rect" to="$(arg right_topic)"/>
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<remap from="left/camera_info" to="$(arg left_info_topic)"/>
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<remap from="right/camera_info" to="$(arg right_info_topic)"/>
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<param name="approx_sync" value="$(arg approx_sync)"/>
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<param name="approx_sync_max_interval" value="$(arg approx_sync_max_interval)"/>
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</node>
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<!-- Use RGBD synchronization -->
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<node unless="$(arg stereo)" pkg="rtabmap_sync" type="rgbd_sync" name="rgbd_sync" output="screen">
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="depth/image" to="$(arg depth_topic)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<param name="approx_sync" value="$(arg approx_sync)"/>
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<param name="approx_sync_max_interval" value="$(arg approx_sync_max_interval)"/>
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</node>
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<!-- Stereo Odometry -->
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<node if="$(arg stereo)" pkg="rtabmap_odom" type="stereo_odometry" name="stereo_odometry" args="$(arg odom_args)" output="screen">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="keep_color" type="bool" value="true"/>
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<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
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<remap from="imu" to="$(arg imu_topic)"/>
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<param name="sensor_data_compression_format" value="$(arg compression_format)"/>
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<param name="sensor_data_parallel_compression" value="$(arg parallel_compression)"/>
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</node>
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<!-- RGB-D Odometry -->
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<node unless="$(arg stereo)" pkg="rtabmap_odom" type="rgbd_odometry" name="rgbd_odometry" args="$(arg odom_args)" output="screen">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgbd" type="bool" value="true"/>
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<param name="keep_color" type="bool" value="true"/>
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<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
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<remap from="imu" to="$(arg imu_topic)"/>
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<param name="sensor_data_compression_format" value="$(arg compression_format)"/>
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<param name="sensor_data_parallel_compression" value="$(arg parallel_compression)"/>
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</node>
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<!-- RTAB-Map -->
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<node pkg="rtabmap_slam" type="rtabmap" name="rtabmap" args="$(arg rtabmap_args)" output="screen">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_sensor_data" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<remap if="$(arg features_only)" from="sensor_data" to="odom_sensor_data/features"/>
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<remap unless="$(arg features_only)" from="sensor_data" to="odom_sensor_data/raw"/>
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</node>
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</group>
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<!-- Visualization -->
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<node pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" output="screen">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_sensor_data" type="bool" value="true"/>
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<param name="subscribe_odom_info" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="false"/>
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<remap if="$(arg features_only)" from="sensor_data" to="odom_sensor_data/features"/>
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<remap unless="$(arg features_only)" from="sensor_data" to="odom_sensor_data/raw"/>
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</node>
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</group>
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</launch>
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