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Updated main launch files

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matlabbe
2016-08-05 16:18:47 -04:00
parent 4bbf2802c3
commit 328f6520b2
3 changed files with 13 additions and 6 deletions
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launch/rgbd_mapping.launch
+5 -3
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@@ -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="$(arg rtabmap_args)"/>
</include>
launch/rtabmap.launch
+3
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@@ -63,6 +63,7 @@
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
<arg name="odom_frame_id" default=""/> <!-- If set, TF is used to get odometry instead of the topic -->
<arg name="odom_args" default="$(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)"/>
launch/stereo_mapping.launch
+5 -3
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@@ -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>