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updated demo_multi-session_mapping.launch for 0.11

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matlabbe
2016-03-11 20:30:16 -05:00
parent 10a40b6c86
commit 0ee20d596f
1 changed files with 12 additions and 12 deletions
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launch/demo/demo_multi-session_mapping.launch
+12 -12
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@@ -17,7 +17,7 @@
<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"/>
<param name="subscribe_laserScan" type="bool" value="true"/> <param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/> <remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/> <remap from="scan" to="/base_scan"/>
@@ -32,17 +32,17 @@
<param name="queue_size" type="int" value="10"/> <param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. --> <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/PoseScanMatching" type="string" value="false"/> <param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/> <param name="RGBD/ProximityBySpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <param name="RGBD/ProximityByTime" type="string" value="false"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
<param name="LccIcp/Type" type="string" value="2"/> <param name="Reg/Strategy" type="string" value="1"/>
<param name="LccIcp2/Iterations" type="string" value="100"/> <param name="Icp/Iterations" type="string" value="30"/>
<param name="LccIcp2/VoxelSize" type="string" value="0"/> <param name="Icp/VoxelSize" type="string" value="0"/>
<param name="LccBow/MinInliers" type="string" value="5"/> <param name="Vis/MinInliers" type="string" value="5"/>
<param name="LccBow/MaxDepth" type="string" value="4.0"/> <param name="Vis/MaxDepth" type="string" value="4.0"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <param name="Vis/InlierDistance" type="string" value="0.1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <param name="RGBD/AngularUpdate" type="string" value="0.01"/>
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <param name="RGBD/LinearUpdate" type="string" value="0.01"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
@@ -51,13 +51,13 @@
<param name="Bayes/FullPredictionUpdate" type="string" value="true"/> <param name="Bayes/FullPredictionUpdate" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF --> <param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree --> <param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<param name="Kp/WordsPerImage" type="string" value="400"/> <param name="Kp/MaxFeatures" type="string" value="400"/>
</node> </node>
<!-- Visualisation RTAB-Map --> <!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen"> <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/> <param name="subscribe_scan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/> <param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>