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
39 lines
1.6 KiB
XML
39 lines
1.6 KiB
XML
<launch>
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<!-- when rosbag ... "rosbag play -.-clock my.bag"-->
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<param name="use_sim_time" type="bool" value="True"/>
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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_twist_node">
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<remap from="cmd_vel" to="cmd_vel"/>
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<remap from="image" to="image_local_polar_reconstructed"/>
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</node>
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</launch>
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