From 37b85a5c7ad3538746f55fca77f131d240953e05 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 17 Jan 2018 12:11:28 -0500
Subject: [PATCH] Update rtabmap.launch

removed voxel_size in points_xyzrgb nodelet to avoid "Leaf size is too small" pcl warnings when stereo cameras are used.
---
 launch/rtabmap.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index fa44b396..838c9bb0 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -243,7 +243,7 @@
     <remap from="cloud"             to="voxel_cloud" />
 
     <param name="decimation"  type="double" value="2"/>
-    <param name="voxel_size"  type="double" value="0.02"/>
+    <param name="voxel_size"  type="double" value="0.0"/>
     <param name="approx_sync" type="bool"   value="$(arg approx_sync)"/>
   </node>