mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
3d0e0f2592
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1448 f169173b-cf89-36c8-b27e-44dbe73f0c83
24 lines
1.0 KiB
XML
24 lines
1.0 KiB
XML
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<launch>
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<!-- rosbag record data_throttled_image/compressed data_throttled_image_depth/compressedDepth data_throttled_camera_info tf base_scan /base_controller/odom -->
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<include file="$(find az3_bringup)/az3_standalone_openni.launch"/>
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<include file="$(find az3_bringup)/joystick.launch"/>
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<!-- Throttling messages -->
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<group ns="rtabmap">
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<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
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<param name="max_rate" type="double" value="10.0"/>
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<remap from="rgb/image_in" to="rgb/image_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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<remap from="rgb/image_out" to="/data_throttled_image"/>
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<remap from="depth/image_out" to="/data_throttled_image_depth"/>
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<remap from="rgb/camera_info_out" to="/data_throttled_camera_info"/>
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</node>
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</group>
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</launch>
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