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Use nodelet in rtabmap_slam.launch #11

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merged 2 commits into from
Jun 21, 2019
Merged

Use nodelet in rtabmap_slam.launch #11

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25252aa
Use nodelet for slam_rtabmap.launch
Jun 21, 2019
3207e61
Create pull_request_template.md
skalldri Jun 21, 2019
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24 changes: 24 additions & 0 deletions .github/pull_request_template.md
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@@ -0,0 +1,24 @@
<!--
All pull requests should fix a Triage Approved issue. Put that issue # here:
e.g. ## Fixes #300.
-->
## Fixes #

### Description of the changes:
-
-
-

<!-- Please check off the appropriate boxes with [x] before submitting your pull request -->
### Before submitting a Pull Request:
- [ ] I reviewed [CONTRIBUTING.md](https://github.com/microsoft/Azure_Kinect_ROS_Driver/blob/master/CONTRIBUTING.md)
- [ ] I [built my changes](https://github.com/microsoft/Azure_Kinect_ROS_Driver/blob/master/docs/building.md) locally
- [ ] I tested my changes with a device

### I tested changes on: <!-- it's not required to have tested both, just indicate which one you tried -->
- [ ] Windows
- [ ] Linux


<!-- Specify how you tested your changes (i.e. manual/ad-hoc testing, automated testing, new automated tests added)-->

25 changes: 13 additions & 12 deletions launch/slam_rtabmap.launch
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@@ -1,18 +1,6 @@
<launch>
<!-- Start the K4A sensor driver -->
<group ns="k4a" >

<!-- TODO: move into a nodelet and combine with image_proc nodelet -->
<include file="$(find azure_kinect_ros_driver)/launch/driver.launch" >
<arg name="depth_enabled" value="true" />
<arg name="depth_mode" value="NFOV_UNBINNED" />
<arg name="color_enabled" value="true" />
<arg name="color_resolution" value="1536P" />
<arg name="fps" value="30" />
<arg name="point_cloud" value="false" />
<arg name="rgb_point_cloud" value="false" />
<arg name="required" value="true" />
</include>

<!-- Spawn a nodelet manager -->
<node pkg="nodelet" type="nodelet" name="manager" args="manager" output="screen">
Expand All @@ -34,6 +22,19 @@
<remap from="image_mono" to="depth/image_raw" />
<remap from="image_rect" to="depth/image_rect" />
</node>

<node pkg="nodelet" type="nodelet" name="k4a_ros_bridge"
args="load Azure_Kinect_ROS_Driver/K4AROSBridgeNodelet manager --no-bond"
respawn="true">
<param name="depth_enabled" value="true" />
<param name="depth_mode" value="NFOV_UNBINNED" />
<param name="color_enabled" value="true" />
<param name="color_resolution" value="720P" />
<param name="fps" value="15" />
<param name="point_cloud" value="false" />
<param name="rgb_point_cloud" value="false" />
<param name="required" value="true" />
</node>
</group>

<!-- Start rtabmap_ros node -->
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