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<launch>
<!--/* ex: set ft=xml tw=0 nowrap: */ ~-->
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find mrol_mapping)/etc/Kinect_demo_config2.vcg"
/>
<node pkg="rxtools" type="rxconsole" name="rxconsole" />
<node pkg="mrol_mapping"
type="Kinect_mapper_demo.py" name="Kinect_mapper_demo"
output="screen">
<!--param name="resolution" value="0.02" /-->
<!--param name="min_overlap" value="0.50" /-->
<!--param name="mrol_levels" value="4" /-->
<!--param name="out_map_topic" value="/mrol" /-->
<!--param name="~max_range" value="4.0" /-->
</node>
<param name="/use_sim_time" value="true" />
<node pkg="rosbag" type="rosbag" name="rosbaginput"
args="play --clock $(env HOME)/to/benchmarking_dataset/rgbd_dataset_freiburg2_large_with_loop.orig.bag" />
<!--
node pkg="rosbag" type="rosbag" name="rosbaginput"
args="play clock $(find mrol_mapping)/data/mrol.in.3.bag" /
-->
</launch>
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