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Updated rgbdslam_datasets.launch

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matlabbe
2019-03-21 11:51:27 -04:00
parent ec02608e01
commit 2ae24855af
1 changed files with 3 additions and 4 deletions
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launch/tests/rgbdslam_datasets.launch
+3 -4
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@@ -31,11 +31,11 @@
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame --> <param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame -->
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="Odom/ResetCountdown" type="string" value="15"/> <param name="Odom/ResetCountdown" type="string" value="15"/>
<param name="Odom/GuessSmoothingDelay" type="string" value="0"/>
<param name="frame_id" type="string" value="kinect"/> <param name="frame_id" type="string" value="kinect"/>
<param name="queue_size" type="int" value="30"/> <param name="queue_size" type="int" value="10"/>
<param name="wait_for_transform" type="bool" value="true"/> <param name="wait_for_transform" type="bool" value="true"/>
<param name="ground_truth_frame_id" type="string" value="world"/> <param name="ground_truth_frame_id" type="string" value="world"/>
<param name="ground_truth_base_frame_id" type="string" value="kinect_gt"/> <param name="ground_truth_base_frame_id" type="string" value="kinect_gt"/>
@@ -47,7 +47,6 @@
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/> <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="false"/> <param name="RGBD/CreateOccupancyGrid" type="string" value="false"/>
<param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/> <param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/>
@@ -59,7 +58,7 @@
<remap from="depth/image" to="/camera/depth/image"/> <remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="queue_size" type="int" value="30"/> <param name="queue_size" type="int" value="10"/>
</node> </node>
<!-- Visualisation --> <!-- Visualisation -->