removed perception launch wrapper.

nemesis_navigation/launch/perception.launch

@@ -1,6 +1,51 @@
 <launch>
 
-   <!-- <include file="$(find nemesis_description)/launch/description.launch"/> -->
-    <include file="$(find nemesis_navigation)/launch/rs_rtabmap.launch"/>
-
+    <arg name="device_type_camera1"    		default="t265"/>
+    <arg name="device_type_camera2"    		default="d4.5"/>	<!-- Note: using regular expression. match D435, D435i, D415... -->
+    <arg name="serial_no_camera1"    			default=""/>
+    <arg name="serial_no_camera2"    			default=""/>
+    <arg name="camera1"              			default="t265"/>		<!-- Note: Replace with camera name -->
+    <arg name="camera2"              			default="d435i"/>		<!-- Note: Replace with camera name -->
+    <arg name="clip_distance"             default="-2"/>
+    <arg name="use_rviz"                  default="false"/>
+    <arg name="use_rtabmapviz"            default="false"/>
+
+
+    <include file="$(find nemesis_navigation)/launch/rs_t265_and_d435i.launch">
+            <arg name="device_type_camera1"             value="$(arg device_type_camera1)"/>
+            <arg name="device_type_camera2"             value="$(arg device_type_camera2)"/>
+            <arg name="serial_no_camera1"               value="$(arg serial_no_camera1)"/>
+            <arg name="serial_no_camera2"               value="$(arg serial_no_camera2)"/>
+            <arg name="camera1"                         value="$(arg camera1)"/>
+            <arg name="camera2"                         value="$(arg camera2)"/>
+            <arg name="clip_distance"                   value="$(arg clip_distance)"/>
+
+    </include>
+
+    <include file="$(find nemesis_navigation)/launch/rtabmap.launch">
+
+             <arg name="rtabmap_args"  value="--delete_db_on_start -d
+            --Mem/UseOdomGravity true
+            --Optimizer/GravitySigma 0.3
+            --Optimizer/Strategy 2
+            --Optimizer/Robust true
+            --RGBD/OptimizeMaxError 0
+            --Reg/Force3DoF true
+            --Optimizer/Slam2D true
+            --RGBD/MarkerDetection true
+            --Marker/Dictionary 20
+            --Marker/Length 0.162"/>
+
+            <arg name="depth_topic"        value="/$(arg camera2)/aligned_depth_to_color/image_raw"/>
+            <arg name="frame_id"           value="t265_link"/>
+            <arg name="rgbd_sync"          value="true"/>
+            <arg name="approx_rgbd_sync"   value="false"/>
+            <arg name="odom_topic"         value="/$(arg camera1)/odom/sample"/>
+            <arg name="rgb_topic"          value="/$(arg camera2)/color/image_raw"/>
+            <arg name="camera_info_topic"  value="/$(arg camera2)/color/camera_info"/>
+            <arg name="queue_size"         value="200"/>
+            <arg name="rviz"               value="$(arg use_rviz)"/>
+            <arg name="rtabmapviz"         value="$(arg use_rtabmapviz)"/>
+            <arg name="visual_odometry"    value="false"/>
+    </include>
 </launch>