Updated 2d scan turtlebot3 demo with deskewing option

2026-10-12 04:29:49 +08:00 · 2026-08-26 20:26:20 -07:00
parent 16f6f05d70
commit 1e6edb4579
2 changed files with 28 additions and 3 deletions
@@ -182,6 +182,12 @@ def generate_launch_description():
            'icp_odometry', default_value='false',
            description='Launch ICP odometry on top of wheel odometry.'),
        
+        DeclareLaunchArgument(
+            'deskewing', default_value='false',
+            description='Do lidar scan deskewing based on wheel odometry. In simulation it '
+                        'doesn\'t matter because laser scans are not skewed, but the option '
+                        'is there for the demo.'),
+
        DeclareLaunchArgument(
            'x_pose', default_value='-2.0',
            description='Initial position of the robot in the simulator.'),