mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
8bd2447ca8
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1862 f169173b-cf89-36c8-b27e-44dbe73f0c83
49 lines
2.1 KiB
XML
49 lines
2.1 KiB
XML
<launch>
|
|
|
|
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
|
|
<param name="video_mode" value="format7_mode3" />
|
|
<param name="format7_color_coding" value="raw16" />
|
|
<param name="bayer_pattern" value="bggr" />
|
|
<param name="bayer_method" value="" />
|
|
<param name="stereo_method" value="Interlaced" />
|
|
<param name="camera_info_url_left" value="" />
|
|
<param name="camera_info_url_right" value="" />
|
|
</node>
|
|
|
|
<arg name="pi/2" value="1.5707963267948966" />
|
|
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
|
|
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
|
|
args="$(arg optical_rotate) base_link stereo_camera 100" />
|
|
|
|
<!-- Run the ROS package stereo_image_proc -->
|
|
<group ns="/stereo_camera" >
|
|
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
|
|
|
|
<!-- Odometry -->
|
|
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
|
|
<remap from="left/image_rect" to="left/image_rect"/>
|
|
<remap from="right/image_rect" to="right/image_rect"/>
|
|
<remap from="left/camera_info" to="left/camera_info"/>
|
|
<remap from="right/camera_info" to="right/camera_info"/>
|
|
<remap from="odom" to="odom_stereo"/>
|
|
|
|
<remap from="odom_local_map" to="/odom_local_map"/>
|
|
<remap from="odom_last_frame" to="/odom_last_frame"/>
|
|
|
|
<param name="frame_id" type="string" value="base_link"/>
|
|
<param name="odom_frame_id" type="string" value="odom"/>
|
|
<param name="approx_sync" type="bool" value="false"/>
|
|
<param name="queue_size" type="int" value="5"/>
|
|
|
|
<param name="Odom/Strategy" type="string" value="1"/>
|
|
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
|
|
<param name="Odom/MaxDepth" type="string" value="10"/>
|
|
<param name="OdomFlow/SubPixIterations" type="string" value="0"/>
|
|
</node>
|
|
|
|
</group>
|
|
|
|
|
|
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/test_odometry.rviz"/>
|
|
|
|
</launch> |