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Updated demo_turtlebot_mapping.launch (decreased LccIcp2/CorrespondenceRatio to 0.05, added localization mode)

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Mathieu Labbe
2015-05-25 10:46:52 -04:00
parent a7be53e2fd
commit 4cf39cb8e0
3 changed files with 54 additions and 33 deletions
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src/CoreNode.cpp
+2 -1
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/core/Version.h>
int main(int argc, char** argv)
{
@@ -102,7 +103,7 @@ int main(int argc, char** argv)
CoreWrapper * rtabmap = new CoreWrapper(deleteDbOnStart);
ROS_INFO("rtabmap started...");
ROS_INFO("rtabmap %s started...", RTABMAP_VERSION);
ros::spin();
delete rtabmap;