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Backporting ros2 commit 0ad034680b

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matlabbe
2025-09-14 23:44:46 +00:00
parent e355deca43
commit 3fa20f56fb
4 changed files with 80 additions and 13 deletions
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rtabmap_launch/launch/rtabmap.launch
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@@ -127,6 +127,7 @@
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="odom_max_rate" default="0"/>
<arg name="odom_expected_rate" default="0"/>
<arg name="odom_always_process_most_recent_frame" default="true"/>
<arg name="imu_topic" default="/imu/data"/> <!-- only used with VIO approaches -->
<arg name="wait_imu_to_init" default="false"/>
<arg name="use_odom_features" default="false"/>
@@ -264,6 +265,7 @@
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="expected_update_rate" type="double" value="$(arg odom_expected_rate)"/>
<param name="always_process_most_recent_frame" type="bool" value="$(arg odom_always_process_most_recent_frame)"/>
<param name="max_update_rate" type="double" value="$(arg odom_max_rate)"/>
<param name="keep_color" type="bool" value="$(arg use_odom_features)"/>
</node>
@@ -295,6 +297,7 @@
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="expected_update_rate" type="double" value="$(arg odom_expected_rate)"/>
<param name="always_process_most_recent_frame" type="bool" value="$(arg odom_always_process_most_recent_frame)"/>
<param name="max_update_rate" type="double" value="$(arg odom_max_rate)"/>
<param name="keep_color" type="bool" value="$(arg use_odom_features)"/>
</node>
@@ -323,6 +326,7 @@
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
<param name="expected_update_rate" type="double" value="$(arg odom_expected_rate)"/>
<param name="always_process_most_recent_frame" type="bool" value="$(arg odom_always_process_most_recent_frame)"/>
<param name="max_update_rate" type="double" value="$(arg odom_max_rate)"/>
<param name="deskewing" type="bool" value="$(arg scan_deskewing)"/>
<param name="deskewing_slerp" type="bool" value="$(arg scan_deskewing_slerp)"/>