i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-13 04:59:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated velodyne and ouster example launch files

Browse Source
This commit is contained in:
matlabbe
2021-05-24 10:10:40 -04:00
parent 761d8d6129
commit 322c6a223a
2 changed files with 52 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/tests/test_velodyne.launch
+2
View File
@@ -14,6 +14,7 @@
<arg name="use_imu" default="false"/> <!-- Assuming IMU fixed to lidar with /velodyne -> /imu_link TF -->
<arg name="imu_topic" default="/imu/data"/>
<arg name="scan_20_hz" default="false"/> <!-- If we launch the velodyne with "rpm:=1200" argument -->
<arg name="organize_cloud" default="false"/>
<arg name="use_sim_time" default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
@@ -22,6 +23,7 @@
<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
<arg if="$(arg scan_20_hz)" name="rpm" value="1200"/>
<arg unless="$(arg scan_20_hz)" name="rpm" value="600"/>
<arg name="organize_cloud" value="$(arg organize_cloud)"/>
</include>
<!-- IMU orientation estimation and publish tf accordingly to os1_sensor frame -->