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https://github.com/introlab/rtabmap_ros.git
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matlabbe
ffcfa9236c
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
37 lines
1.8 KiB
XML
37 lines
1.8 KiB
XML
<launch>
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<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION : with sensorimotor memory type-->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
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<remap from="/image" to="/image_not_used"/> <!-- Just to make sure that rtabmap does not subscribe
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to camera image, here we use sensorimotor input -->
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</node>
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<node name="rtabmap_gui" pkg="rtabmap" type="rtabmap_gui" output="screen"/>
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<node name="camera" pkg="rtabmap" type="camera" output="screen">
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<remap from="/camera/image" to="/image"/>
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<param name="device_id" value="0" type="int"/>
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<param name="image_hz" value="5.0" type="double"/>
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<param name="image_width" value="80" type="int"/>
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<param name="image_height" value="60" type="int"/>
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</node>
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<node name="my_audio_recorder" pkg="rtabmap" type="audio_recorder" output="screen">
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<param name="device_id" value="0" type="int"/>
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<param name="file_name" value="" type="string"/> <!-- use the micro -->
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<param name="frame_length" value="4800" type="int"/> <!-- Must match with image_hz of the camera
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(5 Hz at 24000 fs = 4800 samples / frame) -->
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<param name="fs" value="24000" type="int"/>
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<param name="sample_size" value="2" type="int"/> <!-- 16bits/sample -->
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<param name="channels" value="1" type="int"/> <!-- mono -->
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</node>
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<!-- This node will synchronize images and audio frames, and
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transform them to a Sensorimotor topic used by RTAB-Map. -->
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<node name="my_input_node" pkg="rtabmap" type="input_image_audio_node" />
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</launch>
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