i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of github.com:introlab/rtabmap_ros

Browse Source
This commit is contained in:
Mathieu Labbe
2015-03-06 16:17:25 -05:00
parent 83a39fb3ea e9240a74a5
commit 36b07661d0
2 changed files with 8 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/azimut3/az3_mapping_robot_nav.launch
+7 -3
View File
@@ -28,10 +28,12 @@
<remap from="goal_out" to="current_goal"/>
<remap from="move_base" to="/planner/move_base"/>
<remap from="grid_map" to="/map"/>
<remap from="proj_map" to="/map"/>
<param name="use_action_for_goal" type="bool" value="true"/>
<param name="queue_size" type="int" value="10"/>
<param name="cloud_decimation" type="int" value="1"/>
<param name="RGBD/PoseScanMatching" type="string" value="true"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
@@ -42,10 +44,12 @@
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LocalRadius" type="string" value="5"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Mem/ImageDecimation" type="string" value="8"/>
<param name="Mem/ImageDecimation" type="string" value="4"/>
<param name="Mem/LocalSpaceLinksKeptInWM" type="string" value="true"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -62,7 +66,7 @@
<param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="LccBow/Force2D" type="string" value="true"/>
<param name="LccBow/Force2D" type="string" value="true"/>
<param name="LccBow/MaxDepth" type="string" value="4"/>
<param name="LccBow/MinInliers" type="string" value="5"/>
<param name="LccBow/InlierDistance" type="string" value="0.1"/>
launch/azimut3/config/costmap_common_params.yaml
+1 -1
View File
@@ -3,7 +3,7 @@ raytrace_range: 3.0
footprint: [[ 0.3, 0.3], [-0.3, 0.3], [-0.3, -0.3], [ 0.3, -0.3]]
footprint_padding: 0.03
#robot_radius: ir_of_robot
inflation_radius: 0.60
inflation_radius: 0.55
transform_tolerance: 1
controller_patience: 2.0