i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added /gps/fix input topic, data_player can also publish GPS and global poses if they are set in database

Browse Source
This commit is contained in:
matlabbe
2018-10-24 08:53:44 +12:00
parent 2b8edffc85
commit 575af5c5a1
4 changed files with 136 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/rtabmap.launch
+3
View File
@@ -98,6 +98,8 @@
<arg name="user_data_topic" default="/user_data"/>
<arg name="user_data_async_topic" default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->
<arg name="gps_topic" default="/gps/fix" /> <!-- gps async subscription -->
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
@@ -270,6 +272,7 @@
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="user_data" to="$(arg user_data_topic)"/>
<remap from="user_data_async" to="$(arg user_data_async_topic)"/>
<remap from="gps/fix" to="$(arg gps_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<!-- localization mode -->