Re: Mapping using Rtabmap

Posted by Engy on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-using-Rtabmap-tp5482p5498.html

<?xml version="1.0" encoding="UTF-8"?>

<launch>
 
  <arg name="database_path"     default="rtabmap.db"/>
  <arg name="rgb_topic"         default="/camera/rgb/image_raw"/>
  <arg name="depth_topic"       default="/camera/depth/image_raw"/>
  <arg name="camera_info_topic" default="/camera/rgb/camera_info"/> 
 
 
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
       
       
       
       
       
       
       
       
       

       
        <remap from="scan"            to="/scan"/>
        <remap from="rgb/image"       to="$(arg rgb_topic)"/>
        <remap from="depth/image"     to="$(arg depth_topic)"/>
        <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>

       
        <remap from="grid_map" to="/map"/>

       
         

       
             

       
       
         
               
       
       
         
       
       
       
       
       
       
         
       
       
         
       
       
       
       
    </node>

   
   
    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
     
     
     
     
      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      <remap from="scan"            to="/scan"/>
      <remap from="odom"            to="/odom"/>
    </node>
   
  </group>
</launch>