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fixed #165

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matlabbe
2017-04-24 15:31:17 -04:00
parent 81ffb5ea15
commit 23415cdd6c
1 changed files with 1 additions and 1 deletions
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launch/demo/demo_turtlebot_mapping.launch
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@@ -62,7 +62,7 @@
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
<param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- Loop closure transformation refining with ICP: 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Icp/CoprrespondenceRatio" type="string" value="0.3"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
<param name="Vis/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->