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<launch>
<group ns="robot">
<include file="$(find nav_rtabmap)/base_start.launch" />
<arg name="pi/2" value="1.5707963267948966" />
<!-- camera pointing forward -->
<node pkg="tf" type="static_transform_publisher" name="camera2base" args="0.03 0.04 0.185 -$(arg pi/2) 0 -$(arg pi/2) base_link camera_frame 10" />
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
<remap from="rgb/image" to="camera/left/image_rect"/>
<remap from="depth/image" to="camera/depth"/>
<remap from="rgb/camera_info" to="camera/left/camera_info"/>
<remap from="rgbd_image" to="rgbd_image"/> <!-- output -->
<!-- all camera topics are exactly synchronized -->
<param name="approx_sync" value="false"/>
</node>
</group>
</launch>
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