D435 launch file

[rodolfo76]

roslaunch rtabmap_ros rtabmap.launch \
   rtabmap_args:="--delete_db_on_start" \
   left_image_topic:=/camera/infra1/image_rect_raw \
   right_image_topic:=/camera/infra2/image_rect_raw \
   left_camera_info_topic:=/camera/infra1/camera_info \
   right_camera_info_topic:=/camera/infra2/camera_info \
   stereo:=true
   
   This works great from the terminal window, but how does one
   put this into a launch file?
   This is for the Intel D435 Camera.

[TOM_RB]

Hi  rodolfo
try this :

<launch>
    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
       <arg name="rtabmap_args"  value="--delete_db_on_start"/>
       <arg name="left_image_topic"  value="/camera/infra1/image_rect_raw"/>
       <arg name="right_image_topic"  value="/camera/infra2/image_rect_raw"/>
       <arg name="left_camera_info_topic"  value="/camera/infra1/camera_info"/>
       <arg name="right_camera_info_topic"  value="/camera/infra2/camera_info"/>
       <arg name="stereo"  value="true"/>
     </include>
</launch>

[rodolfo76]

Thank you, I will try it!

[rodolfo76]

Yes, that works! Thanks.