mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
37 lines
1.5 KiB
XML
37 lines
1.5 KiB
XML
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<launch>
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<!-- rosbag record camera/data_throttled_image/compressed camera/data_throttled_image_depth/compressedDepth camera/data_throttled_camera_info tf base_scan /base_controller/odom -->
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<include file="$(find az3_bringup)/az3_standalone.launch"/>
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<!-- To control with only one joystick -->
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<include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>
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<node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
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<param name="scale_angular" value="1.5"/>
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<param name="scale_linear" value="0.5"/>
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<remap from="turtlebot_teleop_joystick/cmd_vel" to="base_controller/cmd_vel"/>
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</node>
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<node pkg="joy" type="joy_node" name="joystick"/>
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<!-- OpenNI -->
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<include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
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<!-- Throttling messages -->
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<group ns="camera">
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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_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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<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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