zed_rtabmap.launch

<?xml version="1.0"?>
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<launch>
    <arg name="zed_namespace"		    	default="zed" />

    <arg name="svo_file"              	default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->

    <arg name="camera_model"         	default="1" /> <!-- 0=ZED, 1=ZEDM-->
    <arg name="serial_number"        	default="0" />
    <arg name="verbose"              	default="true" />
    <arg name="resolution"           	default="2" /> <!--0=RESOLUTION_HD2K, 1=RESOLUTION_HD1080, 2=RESOLUTION_HD720, 3=RESOLUTION_VGA -->
    <arg name="frame_rate"           	default="30" />
    <!-- RESOLUTION_HD2K   -> 2208*1242, available framerates: 15 fps.
       RESOLUTION_HD1080 -> 1920*1080, available framerates: 15, 30 fps.
       RESOLUTION_HD720  -> 1280*720,  available framerates: 15, 30, 60 fps.
       RESOLUTION_VGA    -> 672*376,   available framerates: 15, 30, 60, 100 fps. -->

    <arg name="rgb_topic"               	default="rgb/image_rect_color" />
    <arg name="depth_topic"             	default="depth/depth_registered" />
    <arg name="camera_info_topic"       	default="rgb/camera_info" />
    <arg name="depth_camera_info_topic" 	default="depth/camera_info" />
    <arg name="camera_frame"              default="zed_camera_center" />

    <group ns="$(arg zed_namespace)">
        <!-- ZED Wrapper Node-->
        <include file="$(find zed_wrapper)/launch/zed_camera.launch">
          <arg name="svo_file"            	value="$(arg svo_file)" />
          <arg name="camera_model"        	value="$(arg camera_model)" />
          <arg name="serial_number"       	value="$(arg serial_number)" />
          <arg name="resolution"          	value="$(arg resolution)" />
          <arg name="frame_rate"          	value="$(arg frame_rate)" />
          <arg name="verbose"             	value="$(arg verbose)" />

          <arg name="rgb_topic"                 value="$(arg rgb_topic)" />
          <arg name="depth_topic"               value="$(arg depth_topic)" />
          <arg name="rgb_info_topic"       	value="$(arg camera_info_topic)" />
          <arg name="depth_cam_info_topic" 	value="$(arg depth_camera_info_topic)" />
          <arg name="base_frame"                value="$(arg camera_frame)" />

          <arg name="publish_map_tf"            value="false" />
        </include>
    </group>
  
    <!-- RTAB-map Node-->
    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
      <arg name="rtabmap_args"		value="--delete_db_on_start" />
      <arg name="rgb_topic"               	value="/$(arg zed_namespace)/$(arg rgb_topic)" />
      <arg name="depth_topic"             	value="/$(arg zed_namespace)/$(arg depth_topic)" />
      <arg name="camera_info_topic"       	value="/$(arg zed_namespace)/$(arg camera_info_topic)" />
      <arg name="depth_camera_info_topic" 	value="/$(arg zed_namespace)/$(arg depth_camera_info_topic)" />
      <arg name="frame_id"                  value="$(arg camera_frame)" />
      <arg name="approx_sync"               value="false" />
      <arg name="visual_odometry"           value="false" />
      <arg name="odom_topic"                value="/$(arg zed_namespace)/odom" />
    </include>
</launch>