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0.13.3: scan2d normal support

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matlabbe
2017-09-09 22:46:37 -04:00
parent b772fce84b
commit 4d0423c538
12 changed files with 259 additions and 44 deletions
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launch/rtabmap.launch
+2 -1
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@@ -73,9 +73,9 @@
<arg name="subscribe_scan" default="false"/>
<arg name="scan_topic" default="/scan"/>
<arg name="subscribe_scan_cloud" default="false"/>
<arg name="scan_cloud_topic" default="/scan_cloud"/>
<arg name="scan_normal_k" default="0"/>
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
@@ -172,6 +172,7 @@
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="scan_cloud_normal_k" type="double" value="$(arg scan_normal_k)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>