mirror of
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
41 lines
1.6 KiB
XML
41 lines
1.6 KiB
XML
<launch>
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<!-- teleop -->
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<node pkg="pr2_teleop" type="teleop_pr2_keyboard" name="spawn_teleop_keyboard" output="screen">
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<remap from="cmd_vel" to="user/cmd_vel" />
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<param name="walk_vel" value="0.5" />
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<param name="run_vel" value="1.0" />
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<param name="yaw_rate" value="1.0" />
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<param name="yaw_run_rate" value="1.5" />
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</node>
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<!-- camera -->
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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="10.0" 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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<!-- mic -->
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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="2400" type="int"/> <!-- Must match with image_hz of the camera
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(10 Hz at 24000 fs = 2400 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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<!-- Lasers -->
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<!-- ls -l /dev/ttyACM* -->
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<!-- sudo chmod a+rw /dev/ttyACM* -->
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<node pkg="hokuyo_node" type="hokuyo_node" name="laser_top_publisher" ns="laser_top">
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<param name="frame_id" type="string" value="laser_top"/>
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<param name="port" type="string" value="/dev/ttyACM0"/>
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</node>
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</launch> |