root / rgbdslam / launch / rgbdslam_octomap.launch @ 9240aaa3
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1 | 9240aaa3 | Alex | <launch> |
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2 | <!--might only work with the experimental octomap (as of May 11)--> |
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3 | <include file="$(find openni_camera)/launch/openni_node.launch"/> |
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4 | <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="false" output="log" > </node> |
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5 | <!-- Launch octomap_server for mappingL: Listens to incoming PointCloud2 data |
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6 | and incrementally build an octomap. The data is sent out in different representations. --> |
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7 | <node pkg="octomap_server" type="octomap_server_node" name="octomap_server"> |
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8 | <param name="resolution" value="0.025" /> |
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9 | |||
10 | <!-- fixed map frame (set to 'map' if SLAM or localization running!) --> |
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11 | <param name="frame_id" type="string" value="map" /> |
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12 | |||
13 | <!-- maximum range to integrate (speedup, accuracy) --> |
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14 | <param name="max_sensor_range" value="5.0" /> |
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16 | <!-- data source to integrate (PointCloud2) --> |
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17 | <remap from="cloud_in" to="/rgbdslam/batch_clouds" /> |
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18 | </node> |
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19 | </launch> |