mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
53 lines
2.3 KiB
XML
53 lines
2.3 KiB
XML
|
|
<launch>
|
|
|
|
<!-- Kinect: -->
|
|
<include file="$(find freenect_launch)/launch/freenect.launch">
|
|
<arg name="depth_registration" value="true" />
|
|
</include>
|
|
|
|
<arg name="frame_id" default="camera_link"/>
|
|
<arg name="rtabmap_args" default="--delete_db_on_start"/> <!-- delete_db_on_start, udebug -->
|
|
<arg name="odom_args" default="$(arg rtabmap_args)"/>
|
|
|
|
<!-- RGB-D related topics -->
|
|
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
|
|
<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
|
|
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
|
|
|
|
<group ns="camera">
|
|
|
|
<!-- Use RGBD synchronization -->
|
|
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager">
|
|
<remap from="rgb/image" to="$(arg rgb_topic)"/>
|
|
<remap from="depth/image" to="$(arg depth_topic)"/>
|
|
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
|
|
</node>
|
|
|
|
<!-- RGB-D Odometry -->
|
|
<node pkg="nodelet" type="nodelet" name="rgbd_odometry" args="load rtabmap_ros/rgbd_odometry camera_nodelet_manager $(arg odom_args)">
|
|
<param name="frame_id" type="string" value="$(arg frame_id)"/>
|
|
<param name="subscribe_depth" type="bool" value="false"/>
|
|
<param name="subscribe_rgbd" type="bool" value="true"/>
|
|
</node>
|
|
|
|
<!-- RTAB-Map -->
|
|
<node pkg="nodelet" type="nodelet" name="rtabmap" args="load rtabmap_ros/rtabmap camera_nodelet_manager $(arg rtabmap_args)">
|
|
<param name="frame_id" type="string" value="$(arg frame_id)"/>
|
|
<param name="subscribe_depth" type="bool" value="false"/>
|
|
<param name="subscribe_rgbd" type="bool" value="true"/>
|
|
<param name="approx_sync" type="bool" value="false"/>
|
|
</node>
|
|
|
|
<!-- Visualisation -->
|
|
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
|
|
<param name="frame_id" type="string" value="$(arg frame_id)"/>
|
|
<param name="subscribe_rgbd" type="bool" value="true"/>
|
|
<param name="subscribe_odom_info" type="bool" value="true"/>
|
|
<param name="approx_sync" type="bool" value="false"/>
|
|
</node>
|
|
|
|
</group>
|
|
|
|
</launch>
|