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<!--
Copyright 2016 The Cartographer Authors
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<launch>
<param name="/use_sim_time" value="true" />
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory
$(find cartographer_turtlebot)/configuration_files
-configuration_basename turtlebot_depth_camera_3d.lua"
output="screen" />
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.035" />
<node name="flat_world_imu_node" pkg="cartographer_turtlebot"
type="cartographer_flat_world_imu_node" output="screen">
<remap from="imu_in" to="/mobile_base/sensors/imu_data_raw" />
<remap from="imu_out" to="/imu" />
</node>
<node name="dropper" pkg="topic_tools" type="drop"
args="/camera/depth/image_raw 1 2" />
<node pkg="nodelet" type="nodelet" name="image_processing_manager"
args="manager" />
<node pkg="nodelet" type="nodelet" name="metricizer"
args="load depth_image_proc/convert_metric image_processing_manager">
<remap from="image_raw" to="/camera/depth/image_raw_drop" />
<remap from="image" to="/image" />
</node>
<node pkg="nodelet" type="nodelet" name="rectifier"
args="load image_proc/rectify image_processing_manager">
<remap from="image_mono" to="/image" />
<remap from="camera_info" to="/camera/depth/camera_info" />
<remap from="image_rect" to="/image_rect" />
</node>
<node pkg="nodelet" type="nodelet" name="cloudifier"
args="load depth_image_proc/point_cloud_xyz image_processing_manager">
<remap from="camera_info" to="/camera/depth/camera_info" />
<remap from="image_rect" to="/image_rect" />
<remap from="points" to="/points2" />
</node>
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_turtlebot
)/configuration_files/demo_turtlebot.rviz" />
<node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" />
</launch>
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