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Viewing changes to mrol_ros/launch/kinect_demo.launch

  • Committer: Jeff Delmerico
  • Date: 2012-03-09 15:29:52 UTC
  • mto: (16.1.12 trunk) (29.1.2 trunk)
  • mto: This revision was merged to the branch mainline in revision 27.
  • Revision ID: jad12@buffalo.edu-20120309152952-n72r2int7oko77jq
Fixed bug in occupiedlist for returning voxel indices and data. Was used by mapper to return indices and values from final map.

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mrol_ros/launch/kinect_demo.launch
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<launch>
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<!-- -*- mode: XML -*- -->
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<!-- vi:set ft=xml -*- -->
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<!-- 
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Run the Kinect SLAM demo and visualise. Requires the "openni_kinect" 
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stack and the Kinect hardware. 
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Recommend using the Kinect_demo_config.vcg configuration in rviz.
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-->
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  <!-- Commented out to run Kinect_mapper_demo on turtlebot -->
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  <!--include file="$(find openni_camera)/launch/openni_node.launch"/-->
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  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find mrol_ros)/etc/Kinect_demo_config.vcg" />
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  <node pkg="mrol_ros" type="Kinect_mapper_demo.py"
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  name="Kinect_mapper_demo" >
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    <param name="resolution" value="0.02" />
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    <param name="min_overlap" value="0.50" />
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    <param name="mrol_levels" value="4" />
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    <param name="out_map_topic" value="/mrol" />
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  </node>
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  <!--
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  <node pkg="mrol_ros" type="Kinect_mapper_demo.py"
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  name="Kinect_mapper_demo" args="-ICP"/>
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  -->
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</launch>