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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_multi-session_mapping.launch
+31 -32
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@@ -17,57 +17,56 @@
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="false"/>
<param name="RGBD/ProximityByTime" type="string" value="false"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Icp/Iterations" type="string" value="30"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Vis/MinInliers" type="string" value="5"/>
<param name="Vis/MaxDepth" type="string" value="4.0"/>
<param name="Vis/InlierDistance" type="string" value="0.1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Kp/TfIdfLikelihoodUsed" type="string" value="false"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="false"/>
<param name="RGBD/ProximityByTime" type="string" value="false"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Icp/Iterations" type="string" value="30"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Vis/MinInliers" type="string" value="5"/>
<param name="Vis/MaxDepth" type="string" value="4.0"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Kp/TfIdfLikelihoodUsed" type="string" value="false"/>
<param name="Bayes/FullPredictionUpdate" 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="Kp/MaxFeatures" type="string" value="400"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/MaxFeatures" type="string" value="400"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/image" to="/data_throttled_image"/>
<remap from="depth/image" to="/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/base_controller/odom"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
</node>
@@ -81,7 +80,7 @@
<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="queue_size" type="int" value="10"/>