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mlmapping_bag_sim.launch
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mlmapping_bag_sim.launch
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<?xml version="1.0"?>
<launch>
<param name ="/use_sim_time" value="true"/>
<!--sim_planner1-->
<!--Input######################################################################################################-->
<node pkg="rosbag" type="play" name="rosbag" output="log" args="$(find mlmapping)/bag/flight_1.bag">
</node>
<!--rviz#######################################################################################################-->
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find mlmapping)/launch/config/mlmapping.rviz" />
<!--visualization##############################################################################################-->
<!-- <node pkg="mlmapping" type="visualization" name="visualization" output="screen" /> -->
<!--mlmapping##################################################################################################-->
<arg name="node_start_delay" default="1.0" />
<param name="/mlmapping_configfile" type="string" value="$(find mlmapping)/launch/config/config.yaml"/>
<!-- Manager -->
<node pkg="nodelet" type="nodelet"
name="mlmapping_nodelet_manager" args="manager" output="screen">
<param name="num_worker_threads" value="2" />
</node>
<node pkg="nodelet" type="nodelet" args="load mlmapping/AwarenessMapNodeletClass mlmapping_nodelet_manager"
name="awareness_loader" output="screen"
launch-prefix="bash -c 'sleep 1; $0 $@' ">
<remap from="/mlmapping/pc" to="/camera/depth/color/points"/>
<!-- <remap from="/mlmapping/pc" to="/filtered_RadiusOutlierRemoval"/> -->
<remap from="/mlmapping/pose" to="/mavros/local_position/pose"/>
<!-- Odom or pose -->
<remap from="/mlmapping/odom" to="/vicon_imu_ekf_odom"/>
<remap from="/mlmapping/imu" to="/mavros/imu/data"/>
</node>
<node pkg="nodelet" type="nodelet" args="load mlmapping/LocalMapNodeletClass mlmapping_nodelet_manager"
name="localmap_loader" output="screen">
</node>
</launch>