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Updated for rtabmap 0.8.11. Sync odometry TF with laser scan timestamp instead of the image timestamp.

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Mathieu Labbe
2015-05-01 07:35:21 -04:00
parent 626350c0df
commit 55ce1db43a
7 changed files with 175 additions and 25 deletions
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src/DbPlayerNode.cpp
+1 -1
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@@ -94,7 +94,7 @@ int main(int argc, char** argv)
pnh.param("frame_id", frameId, frameId);
pnh.param("odom_frame_id", odomFrameId, odomFrameId);
pnh.param("camera_frame_id", cameraFrameId, cameraFrameId);
pnh.param("rate", rate, rate);
pnh.param("rate", rate, rate); // Set -1 to use database stamps
pnh.param("database", databasePath, databasePath);
pnh.param("publish_tf", publishTf, publishTf);
pnh.param("start_id", startId, startId);