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並前往https://books.google.com.tw/books?id=LaafDwAAQBAJ&pg=PA15&lpg=PA15&dq=ROS+remap&source=bl&ots=wbnpaBoTGM&sig=ACfU3U3PtX2w_B5xGjRbTyIPU4IwS0dbuA&hl=zh-TW&sa=X&ved=2ahUKEwj0lJmNrZ37AhWxSvEDHStlDV8Q6AF6BQjuARAD

Robot Operating System (ROS): The Complete Reference (Volume 4)

... <node pkg="nodelet" type="nodelet" name="points xyzrgb" args="load rtabmap ros/point cloud xyzrgb standalone nodelet"> <remap from="rgb/image" to="data ...

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