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Added test_apriltags2.launch, updated rtabmap.launch with arguments tag_linear_variance (default 0.0001) and tag_angular_variance (default 9999, not used)

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matlabbe
2019-01-06 17:08:12 -05:00
parent 5787d862f9
commit 02ec32b908
5 changed files with 112 additions and 4 deletions
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launch/rtabmap.launch
+7 -4
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@@ -101,6 +101,8 @@
<arg name="gps_topic" default="/gps/fix" /> <!-- gps async subscription -->
<arg name="tag_topic" default="/tag_detections" /> <!-- apriltags async subscription -->
<arg name="tag_linear_variance" default="0.0001" />
<arg name="tag_angular_variance" default="9999" /> <!-- >=9999 means ignore rotation in optimization, when rotation estimation of the tag is not reliable -->
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
@@ -257,7 +259,8 @@
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="scan_normal_k" type="int" value="$(arg scan_normal_k)"/>
<param name="landmark_linear_variance" type="double" value="$(arg tag_linear_variance)"/>
<param name="landmark_angular_variance" type="double" value="$(arg tag_angular_variance)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
@@ -280,9 +283,9 @@
<remap from="odom" to="$(arg odom_topic)"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
<!-- Visualisation RTAB-Map -->