From 328f6520b2d83754580e51c2073288b9f1191e56 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 5 Aug 2016 16:18:47 -0400
Subject: [PATCH] Updated main launch files

---
 launch/rgbd_mapping.launch   | 8 +++++---
 launch/rtabmap.launch        | 3 +++
 launch/stereo_mapping.launch | 8 +++++---
 3 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
index 9cc04de7..60630b19 100644
--- a/launch/rgbd_mapping.launch
+++ b/launch/rgbd_mapping.launch
@@ -15,8 +15,8 @@
   <arg name="localization"            default="false"/>
   
   <!-- Corresponding config files -->
-  <arg name="rtabmapviz_cfg"          default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
-  <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
+  <arg name="rtabmapviz_cfg"          default="$(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
+  <arg name="rviz_cfg"                default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
   
   <arg name="frame_id"                default="camera_link"/>   <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
   <arg name="database_path"           default="~/.ros/rtabmap.db"/>
@@ -37,6 +37,7 @@
   
   <arg name="visual_odometry"         default="true"/>          <!-- Generate visual odometry -->
   <arg name="odom_topic"              default="/odom"/>         <!-- Odometry topic used if visual_odometry is false -->
+  <arg name="odom_frame_id"           default=""/>              <!-- If set, TF is used to get odometry instead of the topic -->
    
   <arg name="namespace"               default="rtabmap"/>
   <arg name="wait_for_transform"      default="0.2"/>
@@ -68,7 +69,8 @@
     <arg name="scan_cloud_topic"        value="$(arg scan_cloud_topic)"/>
    
     <arg name="visual_odometry"         value="$(arg visual_odometry)"/>          
-    <arg name="odom_topic"              value="$(arg odom_topic)"/>         
+    <arg name="odom_topic"              value="$(arg odom_topic)"/>    
+    <arg name="odom_frame_id"           value="$(arg odom_frame_id)"/>         
     <arg name="odom_args"               value="$(arg rtabmap_args)"/>
   </include>
 
diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index 3d3f509f..33f6b5e1 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -63,6 +63,7 @@
    
   <arg name="visual_odometry"         default="true"/>          <!-- Launch rtabmap visual odometry node -->
   <arg name="odom_topic"              default="/odom"/>         <!-- Odometry topic used if visual_odometry is false -->
+  <arg name="odom_frame_id"           default=""/>              <!-- If set, TF is used to get odometry instead of the topic -->
   <arg name="odom_args"               default="$(arg rtabmap_args)"/>
   
   <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
@@ -124,6 +125,7 @@
       <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
       <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
       <param name="frame_id"             type="string" value="$(arg frame_id)"/>
+      <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
       <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
       <param name="database_path"        type="string" value="$(arg database_path)"/>
       <param name="approx_sync"          type="bool"   value="$(arg approx_sync)"/>
@@ -158,6 +160,7 @@
       <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
       <param name="subscribe_odom_info"  type="bool"   value="$(arg visual_odometry)"/>
       <param name="frame_id"             type="string" value="$(arg frame_id)"/>
+      <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
       <param name="wait_for_transform_duration" type="double"   value="$(arg wait_for_transform)"/>
       <param name="queue_size"           type="int" value="$(arg queue_size)"/>
     
diff --git a/launch/stereo_mapping.launch b/launch/stereo_mapping.launch
index 78517c7e..71487894 100644
--- a/launch/stereo_mapping.launch
+++ b/launch/stereo_mapping.launch
@@ -15,8 +15,8 @@
   <arg name="localization"            default="false"/>
   
   <!-- Corresponding config files -->
-  <arg name="rtabmapviz_cfg"          default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
-  <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
+  <arg name="rtabmapviz_cfg"          default="$(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
+  <arg name="rviz_cfg"                default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
   
   <arg name="frame_id"                default="base_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
   <arg name="database_path"           default="~/.ros/rtabmap.db"/>
@@ -39,6 +39,7 @@
   
   <arg name="visual_odometry"         default="true"/>          <!-- Generate visual odometry -->
   <arg name="odom_topic"              default="/odom"/>         <!-- Odometry topic used if visual_odometry is false -->
+  <arg name="odom_frame_id"           default=""/>              <!-- If set, TF is used to get odometry instead of the topic -->
   
   <arg name="namespace"               default="rtabmap"/>
   <arg name="wait_for_transform"      default="0.2"/>
@@ -74,7 +75,8 @@
     <arg name="scan_cloud_topic"        value="$(arg scan_cloud_topic)"/>
    
     <arg name="visual_odometry"         value="$(arg visual_odometry)"/>          
-    <arg name="odom_topic"              value="$(arg odom_topic)"/>         
+    <arg name="odom_topic"              value="$(arg odom_topic)"/>       
+    <arg name="odom_frame_id"           value="$(arg odom_frame_id)"/>   
     <arg name="odom_args"               value="$(arg rtabmap_args)"/>
   </include>