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
57 lines
2.4 KiB
XML
57 lines
2.4 KiB
XML
<launch>
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<!-- launch teleop with teleop_keyboard.launch -->
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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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<remap from="sensorimotor" to="sensorimotor" />
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<remap from="rtabmap/info" to="rtabmap/info" />
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<remap from="rtabmap/info_x" to="rtabmap/info_x" />
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</node>
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<node name="rtabmap_out" pkg="rtabmap" type="rtabmap_out">
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<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
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<remap from="rtabmap/info" to="rtabmap/info" />
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<remap from="rtabmap/info_x" to="rtabmap/info_x" />
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</node>
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<!-- Arbitration -->
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<!-- cmd_vel_a has priority on cmd_vel_b -->
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<node name="abtr_velocity" pkg="rtabmap" type="abtr_velocity">
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<param name="commands_hz" value="10.0" type="double"/>
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<param name="cmd_vel_a_buffered" value="false" type="bool"/>
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<param name="cmd_vel_b_buffered" value="true" type="bool"/>
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<param name="stats_logged" value="false" type="bool"/>
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<remap from="cmd_vel_a" to="user/cmd_vel" />
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<remap from="cmd_vel_b" to="rtabmap/cmd_vel" />
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<remap from="cmd_vel" to="cmd_vel" />
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</node>
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<!-- INPUT NODE -->
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<node name="my_input_node" pkg="rtabmap" type="input_image_audio_twist_node">
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<remap from="cmd_vel" to="cmd_vel"/>
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</node>
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<!-- SENSORS -->
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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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</launch> |