mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
c26a61f0c5
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
64 lines
2.3 KiB
XML
64 lines
2.3 KiB
XML
<launch>
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<!-- BRING UP AZIMUT2 -->
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<include file="$(find az2_bringup)/az2_base_controller.launch"/>
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<!-- RTAB-MAP SENSORY-MOTOR VERSION -->
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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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<!-- Nodes -->
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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="0.5" type="double"/>
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<param name="cmd_vel_a_buffered" value="true" 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="az2/base_controller/cmd_vel" />
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</node>
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<node name="rtabmap_out" pkg="rtabmap" type="rtabmap_out">
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<param name="commands_hz" value="1.0" type="double"/>
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<param name="idle_null_commands_sent" value="false" type="bool"/>
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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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<!-- 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="sm_state" to="sm_state" />
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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_in" pkg="rtabmap" type="rtabmap_in">
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<param name="nb_commands" value="1" type="int"/>
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<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
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<remap from="sm_state" to="sm_state" />
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<remap from="sensor_data" to="sensor_data" />
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</node>
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<node name="image_to_sms" pkg="rtabmap" type="image_to_sms">
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<param name="image_hz" value="1" type="double"/>
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<param name="resize_image_width" value="160" type="int"/>
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<param name="resize_image_height" value="120" type="int"/>
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<param name="keypoints_extracted" value="0" type="int"/>
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<remap from="image" to="camera/image" />
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<remap from="sm_state" to="sensor_data" />
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</node>
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<!--
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<node name="twist_to_sms" pkg="rtabmap" type="twist_to_sms">
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<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
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<remap from="sm_state" to="sensor_data" />
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</node>
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-->
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<node name="twist_to_turtle_vel" pkg="rtabmap" type="twist_to_turtle_vel_node">
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<remap from="cmd_vel" to="az2/base_controller/cmd_vel" />
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</node>
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</launch>
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