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https://github.com/introlab/rtabmap_ros.git
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33 lines
1.5 KiB
XML
33 lines
1.5 KiB
XML
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<launch>
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<!-- record data to RTAB-Map database format (like a ROS bag, but usable in RTAB-Map for Windows/Mac OS X) -->
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<!-- This demo works with demo_mapping.bag -->
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<param name="use_sim_time" type="bool" value="True"/>
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<include file="$(find rtabmap_ros)/launch/data_recorder.launch">
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<arg name="subscribe_odometry" value="true"/>
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<arg name="subscribe_depth" value="true"/>
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<arg name="subscribe_stereo" value="false"/>
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<arg name="subscribe_scan" value="true"/>
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<arg name="frame_id" value="base_footprint"/>
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<arg name="odom_frame_id" value=""/> <!-- use topic when not set, otherwise use TF if set -->
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<arg name="output_path" value="output.db"/>
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<arg name="record_in_RAM" value="false"/>
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<arg name="queue_size" value="10"/>
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<arg name="max_rate" value="0"/>
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<arg name="odom_topic" value="/az3/base_controller/odom"/>
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<arg name="scan_topic" value="/jn0/base_scan"/>
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</include>
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<!-- uncompress image data -->
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<node name="cameraInfo_relay" type="relay" pkg="topic_tools" args="/data_throttled_camera_info /camera/rgb/camera_info"/>
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<node name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=/data_throttled_image raw out:=/camera/rgb/image_rect_color" />
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<node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/data_throttled_image_depth raw out:=/camera/depth_registered/image_raw" />
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</launch>
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