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Added user data usage example with wifi signal

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matlabbe
2017-02-22 14:43:16 -05:00
parent d5144f292f
commit 2739ddf771
6 changed files with 410 additions and 2 deletions
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launch/rtabmap.launch
+6
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@@ -70,6 +70,9 @@
<arg name="odom_tf_linear_variance" default="1"/> <!-- If TF is used to get odometry, this is the default linear variance -->
<arg name="odom_args" default="$(arg rtabmap_args)"/>
<arg name="subscribe_user_data" default="false"/> <!-- user data synchronized subscription -->
<arg name="user_data_topic" default="/user_data"/>
<arg name="user_data_async_topic" default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
@@ -129,6 +132,7 @@
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param name="subscribe_user_data" type="bool" value="$(arg subscribe_user_data)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/>
@@ -150,6 +154,8 @@
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="user_data" to="$(arg user_data_topic)"/>
<remap from="user_data_async" to="$(arg user_data_async_topic)"/>
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
<!-- localization mode -->