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<launch>
<!-- Visualisation RTAB-Map -->
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d /home/boredman/.ros/rtabmapviz.ini" output="screen">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="subscribe_stereo" type="bool" value="false"/>
<param name="subscribe_scan" type="bool" value="false"/>
<param name="subscribe_scan_cloud" type="bool" value="false"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="queue_size" type="int" value="30"/>
<param name="approx_sync" type="bool" value="true"/>
<remap from="odom" to="/odom"/>
<remap from="info" to="/rtabmap/info"/>
<remap from="mapData" to="/rtabmap/mapData"/>
<remap from="rgbd_image" to="/rtabmap/rgbd_image"/>
<remap from="left/image_rect" to="/camera/left/image_rect"/>
<remap from="left/camera_info" to="/camera/left/camera_info"/>
</node>
</launch>