add output information for recorder

tevenfeng · Oct 24, 2018 · 0aa5d3b · 0aa5d3b
1 parent f80ee2a
commit 0aa5d3b
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Showing 3 changed files with 7 additions and 1 deletion.
diff --git a/tju_car/launch/tju_car.launch b/tju_car/launch/tju_car.launch
@@ -173,6 +173,9 @@
 		<param name="laser_min_dist" value="1.0"/>
 	</node>
 
+    <node pkg="topic_tools" type="drop" name="dropRGB" args= "/usb_cam/image_raw 1 2 /usb_cam/image_raw_drop" />
+    <node pkg="topic_tools" type="drop" name="dropDepth" args= "/camera/depth/image_raw 1 2 /camera/depth/image_raw_drop" />
+
 	<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100" />
 
 	<node pkg="rviz" name="rviz" type="rviz" args="-d $(find tju_car)/rviz/tju_car.rviz" />

diff --git a/tju_car/launch/tju_car_without_rviz.launch b/tju_car/launch/tju_car_without_rviz.launch
@@ -2,7 +2,7 @@
 
 <launch>
 	<!-- car steering control with joystick or commands from jetson tx1 -->
-    <node pkg="tju_car" type="tju_car_node" name="tju_car_node">
+    <node pkg="tju_car" type="tju_car_node" name="tju_car_node" output="screen">
 		<param name="serial_port" type="string" value="/dev/ttyTHS2"/>
 		<!-- set brake button -->
 		<param name="brake_button" type="int" value="7"/>

diff --git a/tju_car/launch/tju_car_without_usbcam.launch b/tju_car/launch/tju_car_without_usbcam.launch
@@ -143,6 +143,9 @@
 		</include>
 	</group>
 
+    <node pkg="topic_tools" type="drop" name="dropRGB" args= "/usb_cam/image_raw 1 2 /usb_cam/image_raw_drop" />
+    <node pkg="topic_tools" type="drop" name="dropDepth" args= "/camera/depth/image_raw 1 2 /camera/depth/image_raw_drop" />
+
 	<node pkg="rviz" name="rviz" type="rviz" args="-d $(find tju_car)/rviz/tju_car_without_usbcam.rviz" />
 
 </launch>