Commit 1690f455 authored by xiaoqiang_user's avatar xiaoqiang_user

add remap laser

parent bf5aa665
<launch>
<node pkg="ORB_SLAM2" type="bwMono" name="bwMono" args="$(find ORB_SLAM2)/Data/ORBvoc.bin $(find ORB_SLAM2)/Data/setting5.yaml" output="screen">
<remap from="/camera/image_raw" to="/camera_node/image_raw" />
<remap from="/camera/camera_info" to="/camera_node/camera_info" />
<remap from="/Odom" to="/xqserial_server/Odom" />
</node>
<node name="galileo_params_configure" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters bwMono">
<param name="update_map" type="bool" value="false" />
<param name="enable_gba" type="bool" value="false" />
</node>
<!-- 设为0关闭底盘红外,设为1启动底盘红外-->
<node pkg="ORB_SLAM2" type="bwMono" name="bwMono" args="$(find ORB_SLAM2)/Data/ORBvoc.bin $(find ORB_SLAM2)/Data/setting5.yaml" output="screen">
<remap from="/camera/image_raw" to="/camera_node/image_raw" />
<remap from="/camera/camera_info" to="/camera_node/camera_info" />
<remap from="/Odom" to="/xqserial_server/Odom" />
<remap from="/scan" to="/scan_filtered" />
</node>
<node name="galileo_params_configure" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters bwMono">
<param name="update_map" type="bool" value="false" />
<param name="enable_gba" type="bool" value="false" />
</node>
<!-- 设为0关闭底盘红外,设为1启动底盘红外-->
<node pkg="nav_test" type="barDetectChanger.py" name="barDetectChanger_orb">
<param name="barDetectFlag" value="1"/>
</node>
......
......@@ -4,12 +4,13 @@
<remap from="/camera/image_raw" to="/camera_node/image_raw" />
<remap from="/camera/camera_info" to="/camera_node/camera_info" />
<remap from="/Odom" to="/xqserial_server/Odom" />
<remap from="/scan" to="/scan_filtered" />
</node>
<node name="galileo_params_configure" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters bwMono">
<param name="update_map" type="bool" value="false" />
<param name="enable_gba" type="bool" value="false" />
</node>
<node pkg="nav_test" type="barDetectChanger.py" name="barDetectChanger_orb">
<param name="barDetectFlag" value="1"/>
</node>
......
<launch>
<node pkg="ORB_SLAM2" type="bwMulti" name="bwMulti" args="$(find ORB_SLAM2)/Data/ORBvoc.bin $(find ORB_SLAM2)/Data/setting5_multi.yaml" output="screen">
<remap from="/camera2/image_raw" to="/multi/back/image_raw" />
<remap from="/camera2/camera_info" to="/multi/back/camera_info" />
<remap from="/camera1/image_raw" to="/multi/front/image_raw" />
<remap from="/camera1/camera_info" to="/multi/front/camera_info" />
<remap from="/Odom" to="/xqserial_server/Odom" />
<node pkg="ORB_SLAM2" type="bwMulti" name="bwMulti" args="$(find ORB_SLAM2)/Data/ORBvoc.bin $(find ORB_SLAM2)/Data/setting5_multi.yaml" output="screen">
<remap from="/camera2/image_raw" to="/multi/back/image_raw" />
<remap from="/camera2/camera_info" to="/multi/back/camera_info" />
<remap from="/camera1/image_raw" to="/multi/front/image_raw" />
<remap from="/camera1/camera_info" to="/multi/front/camera_info" />
<remap from="/Odom" to="/xqserial_server/Odom" />
<remap from="/scan" to="/scan_filtered" />
</node>
<!-- 设为0关闭底盘红外,设为1启动底盘红外-->
<node pkg="nav_test" type="barDetectChanger.py" name="barDetectChanger_node_orb">
......
<launch>
<node pkg="ORB_SLAM2" type="bwMono" name="bwMono" args="$(find ORB_SLAM2)/Data/ORBvoc.bin $(find ORB_SLAM2)/Data/setting-update.yaml" output="screen">
<remap from="/camera/image_raw" to="/camera_node/image_raw" />
<remap from="/camera/camera_info" to="/camera_node/camera_info" />
<remap from="/Odom" to="/xqserial_server/Odom" />
<node pkg="ORB_SLAM2" type="bwMono" name="bwMono" args="$(find ORB_SLAM2)/Data/ORBvoc.bin $(find ORB_SLAM2)/Data/setting-update.yaml" output="screen">
<remap from="/camera/image_raw" to="/camera_node/image_raw" />
<remap from="/camera/camera_info" to="/camera_node/camera_info" />
<remap from="/Odom" to="/xqserial_server/Odom" />
<remap from="/scan" to="/scan_filtered" />
</node>
<!-- 设为0关闭底盘红外,设为1启动底盘红外-->
<node pkg="nav_test" type="barDetectChanger.py" name="barDetectChanger_orb">
<param name="barDetectFlag" value="0"/>
......
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