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data_recorder.launch: fixed approx_sync default to false for rgb-d input

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matlabbe
2016-09-03 14:30:10 -04:00
parent 8f5c50b3f0
commit 3b6daf7189
1 changed files with 5 additions and 3 deletions
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launch/data_recorder.launch
+5 -3
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@@ -5,7 +5,8 @@
<arg name="subscribe_depth" default="true"/>
<arg name="subscribe_stereo" default="false"/>
<arg name="subscribe_scan" default="false"/>
<arg name="stereo_approx_sync" default="false"/>
<arg if="$(arg subscribe_stereo)" name="approx_sync" default="false"/>
<arg unless="$(arg subscribe_stereo)" name="approx_sync" default="true"/>
<arg name="frame_id" default="camera_link"/>
<arg name="odom_frame_id" default=""/> <!-- use topic when not set, otherwise use TF if set -->
@@ -41,7 +42,8 @@
<param name="publish_tf" type="bool" value="false"/> <!-- don't publish TF -->
<param name="RGBD/ProximityBySpace" type="string" value="false"/>
<param name="RGBD/LinearUpdate" type="string" value="0"/>
<param name="RGBD/AngularUpdate" type="string" value="0"/>
<param name="RGBD/AngularUpdate" type="string" value="0"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="false"/>
<param unless="$(arg subscribe_odometry)" name="RGBD/Enabled" type="string" value="false"/>
<param name="Rtabmap/DetectionRate" type="string" value="$(arg max_rate)"/>
@@ -52,7 +54,7 @@
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_stereo" type="bool" value="$(arg subscribe_stereo)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="stereo_approx_sync" type="bool" value="$(arg stereo_approx_sync)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<!-- Hack to use a fake odom_frame_id=frame_id if subscribe_odometry = false -->
<param if="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>