mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
88be959268
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1546 f169173b-cf89-36c8-b27e-44dbe73f0c83
50 lines
2.3 KiB
XML
50 lines
2.3 KiB
XML
|
|
<launch>
|
|
|
|
<!-- Remote teleop -->
|
|
<include file="$(find az3_bringup)/joystick.launch"/>
|
|
|
|
<!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
|
|
<!-- a relay on this machine -->
|
|
<node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay" >
|
|
<param name="lazy" type="bool" value="false"/>
|
|
</node>
|
|
|
|
<!-- Grid map assembler for rviz -->
|
|
<node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
|
|
<remap from="mapData" to="rtabmap/mapData_relay"/>
|
|
</node>
|
|
|
|
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
|
|
|
|
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwith efficiency -->
|
|
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz)
|
|
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
|
|
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
|
|
<remap from="rgb/image_in" to="/camera/data_throttled_image"/>
|
|
<remap from="depth/image_in" to="/camera/data_throttled_image_depth"/>
|
|
<remap from="rgb/camera_info_in" to="/camera/data_throttled_camera_info"/>
|
|
<remap from="odom_in" to="/base_controller/odom"/>
|
|
|
|
<remap from="rgb/image_out" to="data_odom_sync/image"/>
|
|
<remap from="depth/image_out" to="data_odom_sync/depth"/>
|
|
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
|
|
<remap from="odom_out" to="odom_sync"/>
|
|
|
|
<param name="rgb/image_transport" type="string" value="compressed"/>
|
|
<param name="depth/image_transport" type="string" value="compressedDepth"/>
|
|
|
|
<param name="queue_size" type="int" value="30"/>
|
|
</node>
|
|
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
|
|
<remap from="rgb/image" to="data_odom_sync/image"/>
|
|
<remap from="depth/image" to="data_odom_sync/depth"/>
|
|
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
|
|
<remap from="cloud" to="voxel_cloud" />
|
|
|
|
<param name="queue_size" type="int" value="10"/>
|
|
<param name="voxel_size" type="double" value="0.01"/>
|
|
</node>
|
|
-->
|
|
</launch>
|