<launch>
    <arg name ="rgb_topic" default="/camera/rgb"/>
    <arg name ="dep_topic" default="/camera/depth"/>
    <param name = "use_sim_time" value = "true"/>
    <arg name="vocabulary_path" default="/home/ORB_SLAM2/Vocabulary/ORBvoc.txt"/>
    <arg name="settings_path" default="/slamhive/mappingtask.yaml"/>

    <node name="orb_node" type="RGBD" pkg="ORB_SLAM2"
        args="$(arg vocabulary_path) $(arg settings_path)" cwd="node"  output="screen" >
        
        <remap from="/camera/rgb/image_raw" to="$(arg rgb_topic)"/>
        <remap from="/camera/depth_registered/image_raw" to="$(arg dep_topic)"/>
    </node> 
</launch>
