mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
83 lines
4.0 KiB
XML
83 lines
4.0 KiB
XML
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<launch>
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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="data_skip" value="3"/>
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</include>
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<group ns="camera">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
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<remap from="rgb/image_in" to="rgb/image_rect_color"/>
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<remap from="depth/image_in" to="depth_registered/image_raw"/>
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<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
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<param name="decimation" type="int" value="2"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb camera_nodelet_manager">
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<remap from="rgb/image" to="rgb/image_out"/>
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<remap from="depth/image" to="depth/image_out"/>
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<remap from="rgb/camera_info" to="rgb/camera_info_out"/>
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<remap from="cloud" to="/voxel_cloud_xyzrgb" />
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<param name="voxel_size" type="double" value="0.02"/>
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<param name="decimation" type="int" value="2"/>
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<param name="noise_filter_radius" type="double" value="0.05"/>
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<param name="normal_k" type="int" value="6"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="points_xyz" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
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<remap from="depth/image" to="depth/image_out"/>
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<remap from="depth/camera_info" to="rgb/camera_info_out"/>
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<remap from="cloud" to="/voxel_cloud_xyz" />
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<param name="voxel_size" type="double" value="0.02"/>
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<param name="decimation" type="int" value="2"/>
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<param name="noise_filter_radius" type="double" value="0.05"/>
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<param name="normal_k" type="int" value="6"/>
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</node>
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</group>
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<!-- stereo test with stereo_outdoorA.bag -->
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<!--
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<param name="use_sim_time" value="true"/>
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<node name="republish_left" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
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<node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />
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<group ns="/stereo_camera" >
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<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
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<remap from="left/image_raw" to="left/image_raw_throttle_relay"/>
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<remap from="left/camera_info" to="left/camera_info_throttle"/>
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<remap from="right/image_raw" to="right/image_raw_throttle_relay"/>
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<remap from="right/camera_info" to="right/camera_info_throttle"/>
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<param name="disparity_range" value="128"/>
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</node>
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</group>
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap_ros/stereo_throttle standalone_nodelet">
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<remap from="left/image" to="/stereo_camera/left/image_rect_color"/>
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<remap from="right/image" to="/stereo_camera/right/image_rect"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
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<param name="decimation" type="int" value="2"/>
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<param name="approx_sync" type="bool" value="false"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
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<remap from="left/image" to="/stereo_camera/left/image_rect_color_throttle"/>
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<remap from="right/image" to="/stereo_camera/right/image_rect_throttle"/>
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<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle_throttle"/>
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<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle_throttle"/>
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<remap from="cloud" to="/voxel_cloud" />
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<param name="decimation" type="int" value="2"/>
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<param name="approx_sync" type="bool" value="false"/>
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</node>
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-->
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</launch>
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