mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Mathieu Labbe
dfe5cff0c0
Moved all nodelets and rviz plugins in "rtabmap_ros" namespace instead of "rtabmap" Refactored rtabmap_ros messages (added convenient conversion methods in rtabmap_ros/MsgConversion.h) Added noise filtering parameters for map_assembler node Added variance parameter for map_optimizer node Odometry nodes publish covariance matrices in odometry messages. Publish rtambap_ros::OdomInfo topic too.
34 lines
1.9 KiB
XML
34 lines
1.9 KiB
XML
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<launch>
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<!-- Remote teleop -->
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<!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
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<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
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<!-- a relay on this machine, same for images -->
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<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
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<node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
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<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
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<!-- Grid map assembler for rviz -->
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<node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
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<remap from="mapData" to="rtabmap/mapData_relay"/>
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<remap from="grid_map" to="rtabmap/grid_map"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
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<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
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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="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
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<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
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<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="queue_size" type="int" value="10"/>
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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</launch>
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