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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> |