Azure_Kinect_ROS_Driver/launch/slam_rtabmap.launch at 8d457a180f147b369cbd15e900092b6e82afe964 · microsoft/Azure_Kinect_ROS_Driver · GitHub

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<!--
Copyright (c) Microsoft Corporation. All rights reserved.
Licensed under the MIT License.
-->

<launch>

  <param name="robot_description"
    command="xacro $(find azure_kinect_ros_driver)/urdf/azure_kinect_standalone.urdf.xacro" />

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

  <!-- Start the K4A sensor driver -->
  <group ns="k4a" >

    <!-- Spawn a nodelet manager -->
    <node pkg="nodelet" type="nodelet" name="manager" args="manager" output="screen">
      <param name="num_worker_threads" value="16" />
    </node>

    <!-- Spawn an image_proc/rectify nodelet to rectify the RGB image -->
    <node pkg="nodelet" type="nodelet" name="rectify_rgb"
          args="load image_proc/rectify manager --no-bond"
          respawn="true">
      <remap from="image_mono"  to="rgb_to_depth/image_raw" />
      <remap from="image_rect"  to="rgb_to_depth/image_rect" />
    </node>

    <!-- Spawn an image_proc/rectify nodelet to rectify the depth image -->
    <node pkg="nodelet" type="nodelet" name="rectify_depth"
          args="load image_proc/rectify manager --no-bond"
          respawn="true">
      <remap from="image_mono"  to="depth/image_raw" />
      <remap from="image_rect"  to="depth/image_rect" />
    </node>

    <node pkg="nodelet" type="nodelet" name="k4a_ros_bridge"
          args="load Azure_Kinect_ROS_Driver/K4AROSBridgeNodelet manager --no-bond"
          respawn="true">
      <param name="depth_enabled"     value="true" />
      <param name="depth_mode"        value="NFOV_UNBINNED" />
      <param name="color_enabled"     value="true" />
      <param name="color_resolution"  value="1536P" />
      <param name="fps"               value="30" />
      <param name="point_cloud"       value="false" />
      <param name="rgb_point_cloud"   value="false" />
      <param name="required"          value="true" />
      <param name="imu_rate_target"   value="100" />

    </node>

  </group>

  <!-- Start rtabmap_ros node -->
  <include file="$(find rtabmap_ros)/launch/rtabmap.launch" ns="rtabmap" >
    <arg name="rgb_topic"          value="/k4a/rgb_to_depth/image_rect" />
    <arg name="depth_topic"        value="/k4a/depth/image_rect" />
    <arg name="camera_info_topic"  value="/k4a/depth/camera_info" />
    <arg name="approx_sync"        value="true" />
    <arg name="frame_id"           value="camera_base" />
    <arg name="args"               value="--delete_db_on_start --Odom/ResetCountdown 2" />
  </include>

</launch>