From 1a7fd11a420aac774aab41a1582c0e7edd7adef0 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Sun, 13 Jul 2014 17:44:22 +0000
Subject: [PATCH] azimut3: default OptimizeFromGraphEnd=true because when some
 nodes are transfered, the first referential of the local may change,
 resulting in momentary changes in robot/map position (which are annoying in
 teleopration)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1548 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/azimut3/az3_bag_mapping.launch               | 1 -
 launch/azimut3/az3_mapping_robot.launch             | 1 -
 launch/azimut3/az3_mapping_robot_kinect_odom.launch | 1 -
 3 files changed, 3 deletions(-)

diff --git a/launch/azimut3/az3_bag_mapping.launch b/launch/azimut3/az3_bag_mapping.launch
index 5e6dfac1..17416253 100644
--- a/launch/azimut3/az3_bag_mapping.launch
+++ b/launch/azimut3/az3_bag_mapping.launch
@@ -40,7 +40,6 @@
 	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
 	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
 	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>   
-   	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
     </node>
   </group>
   
diff --git a/launch/azimut3/az3_mapping_robot.launch b/launch/azimut3/az3_mapping_robot.launch
index 82a0be23..fd8a6089 100644
--- a/launch/azimut3/az3_mapping_robot.launch
+++ b/launch/azimut3/az3_mapping_robot.launch
@@ -68,7 +68,6 @@
 	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
 	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
 	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>   
-   	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
     </node>
   </group>
 </launch>
diff --git a/launch/azimut3/az3_mapping_robot_kinect_odom.launch b/launch/azimut3/az3_mapping_robot_kinect_odom.launch
index 662b0359..f0aff6a6 100644
--- a/launch/azimut3/az3_mapping_robot_kinect_odom.launch
+++ b/launch/azimut3/az3_mapping_robot_kinect_odom.launch
@@ -56,7 +56,6 @@
 	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
 	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
 	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>   
-   	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
     </node>
   </group>
 </launch>