mirror of
https://github.com/introlab/rtabmap_ros.git
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38 lines
1.6 KiB
XML
38 lines
1.6 KiB
XML
<launch>
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<arg name="localization" default="false"/>
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<arg name="uid"/>
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<!-- Kinect: -->
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<include file="$(find freenect_launch)/launch/freenect.launch">
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<arg name="depth_registration" value="true" />
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<arg name="publish_tf" value="false" />
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</include>
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<!-- IMU Sensor: -->
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<node pkg="imu_brick" type="imu_brick_node" name="imu_brick">
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<param name="frame_id" value="imu_link"/>
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<param name="period_ms" value="10"/>
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<param name="uid" type="string" value="$(arg uid)"/>
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<param name="cov_orientation" type="double" value="0.0005"/>
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<param name="cov_velocity" type="double" value="0.00025"/>
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<param name="cov_acceleration" type="double" value="0.1"/>
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<param name="remove_gravitational_acceleration" type="bool" value="true"/>
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</node>
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<!-- IMU frame: just over the RGB camera -->
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<node pkg="tf" type="static_transform_publisher" name="rgb_to_imu_tf"
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args="-0.032 0.0 0.032 0.0 0.0 0.0 /camera_rgb_frame /imu_link 100" />
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<arg name="pi/2" value="1.5707963267948966" />
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<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
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<node pkg="tf" type="static_transform_publisher" name="optical_rotation"
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args="$(arg optical_rotate) /camera_rgb_frame /camera_rgb_optical_frame 100" />
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<include file="$(find rtabmap_ros)/launch/tests/sensor_fusion.launch">
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<arg name="frame_id" value="camera_rgb_frame"/>
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<arg name="localization" value="$(arg localization)"/>
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<arg name="imu_remove_gravitational_acceleration" value="false"/>
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</include>
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</launch> |