From 06c29333bd6f683e0a497c499a171e8f405ab025 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 5 Oct 2021 14:26:07 -0400
Subject: [PATCH] Update rtabmap.launch

---
 launch/rtabmap.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index 77cbe56a..69db25ba 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -110,8 +110,8 @@
   <arg name="odom_topic"               default="odom"/>          <!-- Odometry topic name -->
   <arg name="vo_frame_id"              default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
   <arg name="publish_tf_odom"          default="true"/>
-  <arg name="odom_tf_angular_variance" default="1"/>             <!-- If TF is used to get odometry, this is the default angular variance -->
-  <arg name="odom_tf_linear_variance"  default="1"/>             <!-- If TF is used to get odometry, this is the default linear variance -->
+  <arg name="odom_tf_angular_variance" default="0.001"/>         <!-- If TF is used to get odometry, this is the default angular variance -->
+  <arg name="odom_tf_linear_variance"  default="0.001"/>         <!-- If TF is used to get odometry, this is the default linear variance -->
   <arg name="odom_args"                default=""/>              <!-- More arguments for odometry (overwrite same parameters in rtabmap_args) -->
   <arg name="odom_sensor_sync"         default="false"/>
   <arg name="odom_guess_frame_id"        default=""/>