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Updated demo_hector_mapping.launch for 0.11

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matlabbe
2016-03-11 20:21:13 -05:00
parent f26c8b55eb
commit 10a40b6c86
1 changed files with 4 additions and 4 deletions
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launch/demo/demo_hector_mapping.launch
+4 -4
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@@ -49,7 +49,7 @@
<param name="frame_id" type="string" value="base_footprint"/>
<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="/scanmatch_odom"/>
<remap from="scan" to="/jn0/base_scan"/>
@@ -62,9 +62,9 @@
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<!-- RTAB-Map's parameters -->
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="10.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Vis/MaxDepth" type="string" value="10.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
</node>
<!-- Visualisation RTAB-Map -->