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Updated osuter example with option to set wait tf duration, increased too low Icp/PMOutlierRatio

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matlabbe
2023-12-09 15:57:33 -08:00
parent e3452e1962
commit 0748b91acc
1 changed files with 5 additions and 2 deletions
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rtabmap_examples/launch/test_ouster_gen2.launch
+5 -2
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@@ -49,6 +49,7 @@
<arg name="ptp" default="false"/> <!-- See comments in header to start before launching the launch --> <arg name="ptp" default="false"/> <!-- See comments in header to start before launching the launch -->
<arg name="imu_topic" default="/os_cloud_node/imu"/> <arg name="imu_topic" default="/os_cloud_node/imu"/>
<arg name="scan_topic" default="/os_cloud_node/points"/> <arg name="scan_topic" default="/os_cloud_node/points"/>
<arg name="wait_for_transform" default="0.01"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/> <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
@@ -77,11 +78,12 @@
<remap from="imu/data" to="$(arg imu_topic)/filtered"/> <remap from="imu/data" to="$(arg imu_topic)/filtered"/>
<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/> <param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
<param name="base_frame_id" value="$(arg frame_id)"/> <param name="base_frame_id" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" value="$(arg wait_for_transform)"/>
</node> </node>
<!-- Lidar Deskewing --> <!-- Lidar Deskewing -->
<node if="$(arg deskewing)" pkg="nodelet" type="nodelet" name="lidar_deskewing" args="standalone rtabmap_util/lidar_deskewing" output="screen"> <node if="$(arg deskewing)" pkg="nodelet" type="nodelet" name="lidar_deskewing" args="standalone rtabmap_util/lidar_deskewing" output="screen">
<param name="wait_for_transform" value="0.01"/> <param name="wait_for_transform" value="$(arg wait_for_transform)"/>
<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/> <param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
<param name="slerp" value="$(arg slerp)"/> <param name="slerp" value="$(arg slerp)"/>
<remap from="input_cloud" to="$(arg scan_topic)"/> <remap from="input_cloud" to="$(arg scan_topic)"/>
@@ -101,6 +103,7 @@
<param name="guess_frame_id" type="string" value="$(arg frame_id)_stabilized"/> <param name="guess_frame_id" type="string" value="$(arg frame_id)_stabilized"/>
<param name="wait_imu_to_init" type="bool" value="true"/> <param name="wait_imu_to_init" type="bool" value="true"/>
<param name="wait_for_transform_duration" value="$(arg wait_for_transform)"/>
<!-- ICP parameters --> <!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/> <param name="Icp/PointToPlane" type="string" value="true"/>
@@ -113,7 +116,7 @@
<param name="Icp/MaxTranslation" type="string" value="2"/> <param name="Icp/MaxTranslation" type="string" value="2"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/> <param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/> <param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.1"/> <param name="Icp/PMOutlierRatio" type="string" value="0.5"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/> <param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<param name="Icp/ReciprocalCorrespondences" type="string" value="false"/> <param name="Icp/ReciprocalCorrespondences" type="string" value="false"/>