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updated az3_mapping_robot_nav.launch

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Mathieu Labbe
2015-02-04 13:45:37 -05:00
parent f99b114630
commit 05682b3159
1 changed files with 6 additions and 9 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+6 -9
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@@ -1,6 +1,9 @@
<launch> <launch>
<!-- args: "delete_db_on_start" and "udebug" -->
<arg name="rtabmap_args" default="--delete_db_on_start" />
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni --> <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/> <include file="$(find az3_bringup)/az3_standalone.launch"/>
@@ -72,9 +75,8 @@
</group> </group>
<!-- SLAM (robot side) --> <!-- SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<group ns="rtabmap"> <group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
@@ -121,15 +123,10 @@
<param name="SURF/HessianThreshold" type="string" value="1000"/> <param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="LccBow/Force2D" type="string" value="true"/>
<param name="LccBow/MaxDepth" type="string" value="4"/> <param name="LccBow/MaxDepth" type="string" value="4"/>
<param name="LccBow/MinInliers" type="string" value="10"/> <param name="LccBow/MinInliers" type="string" value="5"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <param name="LccBow/InlierDistance" type="string" value="0.1"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/MaxWords" type="string" value="400"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node> </node>