mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 01:07:49 +08:00
matlabbe
5a060a74f9
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@785 f169173b-cf89-36c8-b27e-44dbe73f0c83
23 lines
1.0 KiB
XML
23 lines
1.0 KiB
XML
<launch>
|
|
|
|
<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
|
|
<!-- WARNING : Database is automatically deleted on each startup -->
|
|
<!-- See "delete_db_on_start" option below... -->
|
|
|
|
<!-- args: "delete_db_on_start" and "udebug" -->
|
|
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start"/>
|
|
|
|
<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen"/>
|
|
|
|
<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
|
|
<node name="camera" pkg="uimage" type="camera" output="screen">
|
|
<remap from="/camera/image" to="/image"/>
|
|
<param name="device_id" value="0" type="int"/>
|
|
<param name="video_or_images_path" value="$(find rtabmap_lib)/build/rtabmap-svn/bin/data/samples" type="string"/>
|
|
<param name="frame_rate" value="2.0" type="double"/>
|
|
<param name="width" value="0" type="int"/>
|
|
<param name="height" value="0" type="int"/>
|
|
<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
|
|
</node>
|
|
</launch>
|