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Added "wait_for_transform_duration" (default 0.1 s) parameter to rtabmap, rtabmapviz and odometry nodes

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matlabbe
2015-08-14 15:01:51 -04:00
parent cc5203127f
commit 0dd1d5721b
11 changed files with 105 additions and 131 deletions
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launch/rgbd_mapping.launch
+4 -4
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@@ -31,7 +31,7 @@
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
<arg name="namespace" default="rtabmap"/>
<arg name="wait_for_transform" default="true"/>
<arg name="wait_for_transform" default="0.1"/>
<!-- Odometry parameters: -->
<arg name="strategy" default="0" /> <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
@@ -52,7 +52,7 @@
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="wait_for_transform_duration" type="bool" value="$(arg wait_for_transform)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
@@ -69,7 +69,7 @@
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="wait_for_transform_duration" type="bool" value="$(arg wait_for_transform)"/>
<param name="database_path" type="string" value="$(arg database_path)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
@@ -96,7 +96,7 @@
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_odom_info" type="bool" value="$(arg visual_odometry)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="wait_for_transform_duration" type="bool" value="$(arg wait_for_transform)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_registered_topic)"/>