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Cleanup launch files

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matlabbe
2016-03-13 18:05:27 -04:00
parent cfcc4b57a3
commit 238e78bae0
12 changed files with 257 additions and 366 deletions
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launch/demo/demo_appearance_mapping.launch
+27 -18
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@@ -4,27 +4,35 @@
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<group ns="rtabmap">
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_laserScan" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="queue_size" type="int" value="10"/>
<param name="queue_size" type="int" value="10"/>
<remap from="rgb/image" to="/image"/> <!-- connect to "image" topic of the camera below -->
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/Enabled" type="string" value="false"/> <!-- False: appearance-based -->
<param name="Rtabmap/ImageBufferSize" type="string" value="0"/> <!-- process all images -->
<param name="Rtabmap/DetectionRate" type="string" value="0"/> <!-- Go as fast as the camera rate (here 2 Hz, see below) -->
<param name="Mem/RehearsalSimilarity" type="string" value="0.4"/> <!-- 40% -->
<param name="Mem/STMSize" type="string" value="15"/> <!-- 15 locations in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="true"/> <!-- true = SLAM mode -->
<param name="Mem/RehearsalIdUpdatedToNewOne" type="string" value="true"/> <!-- On merging, update to new ID-->
<param name="Mem/BadSignaturesIgnored" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<param name="RGBD/Enabled" type="string" value="false"/> <!-- False: appearance-based -->
<param name="Rtabmap/ImageBufferSize" type="string" value="0"/> <!-- process all images -->
<param name="Rtabmap/DetectionRate" type="string" value="0"/> <!-- Go as fast as the camera rate (here 2 Hz, see below) -->
<param name="Mem/RehearsalSimilarity" type="string" value="0.4"/> <!-- 40% -->
<param name="Mem/STMSize" type="string" value="15"/> <!-- 15 locations in short-term memory -->
<param name="Mem/RehearsalIdUpdatedToNewOne" type="string" value="true"/> <!-- On merging, update to new ID-->
<param name="Mem/BadSignaturesIgnored" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
@@ -40,11 +48,12 @@
<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
<node name="camera" pkg="rtabmap_ros" type="camera" output="screen">
<remap from="image" to="image"/>
<param name="device_id" value="0" type="int"/>
<param name="device_id" value="0" type="int"/>
<param name="video_or_images_path" value="$(find rtabmap_ros)/launch/data/demo_appearance" type="string"/>
<param name="frame_rate" value="2.0" type="double"/>
<param name="width" value="0" type="int"/>
<param name="height" value="0" type="int"/>
<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
<param name="frame_rate" value="2.0" type="double"/>
<param name="width" value="0" type="int"/>
<param name="height" value="0" type="int"/>
<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
</node>
</launch>