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root / rgbdslam / launch / rgbdslam_octomap.launch @ 9240aaa3

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<launch>
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  <!--might only work with the experimental octomap (as of May 11)-->
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    <include file="$(find openni_camera)/launch/openni_node.launch"/>
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    <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="false" output="log" > </node>
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    <!-- Launch octomap_server for mappingL: Listens to incoming PointCloud2 data 
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    and incrementally build an octomap. The data is sent out in different representations. -->
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    <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
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      <param name="resolution" value="0.025" />
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      <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
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      <param name="frame_id" type="string" value="map" />
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      <!-- maximum range to integrate (speedup, accuracy) -->
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      <param name="max_sensor_range" value="5.0" />
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      <!-- data source to integrate (PointCloud2) -->
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          <remap from="cloud_in" to="/rgbdslam/batch_clouds" />
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    </node>
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</launch>