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mlmapping_flvis_d435i.launch
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mlmapping_flvis_d435i.launch
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<?xml version="1.0"?>
<launch>
<!--Input######################################################################################################-->
<include file="$(find mlmapping)/launch/flvis_d435i_launch/flvis_d435i_stereo.launch"/>
<!--rviz#######################################################################################################-->
<!-- <node type="rviz" name="rviz" pkg="rviz" args="-d $(find mlmapping)/launch/config/mlmapping.rviz" />-->
<arg name="node_start_delay" default="10.0" />
<!--visualization##############################################################################################-->
<node pkg="mlmapping" type="visualization" name="visualization" output="screen" />
<!--mlmapping##################################################################################################-->
<param name="/mlmapping_configfile" type="string" value="$(find mlmapping)/launch/config/d435i_mit_flvis.yaml"/>
<!-- Manager -->
<node pkg="nodelet" type="nodelet"
name="mlmapping_nodelet_manager" args="manager" output="screen">
<param name="num_worker_threads" value="4" />
</node>
<node pkg="nodelet" type="nodelet" args="load mlmapping/AwarenessMapNodeletClass mlmapping_nodelet_manager"
name="awareness_loader" output="screen"
launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' ">
<remap from="/mlmapping/pc" to="/camera/depth/color/points"/>
<remap from="/mlmapping/pose" to="/imu_pose"/>
</node>
<!-- <node pkg="nodelet" type="nodelet" args="load mlmapping/LocalMapNodeletClass mlmapping_nodelet_manager"
name="localmap_loader" output="screen"
launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' ">
</node>-->
</launch>