i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

ros-pkg: updated demo_robot_mapping.launch (fixed local loop lcosure detection not working at the end of the sequence because optimization was done outside)

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2051 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-19 23:41:11 +00:00
parent af1a92e031
commit 5b41c2add5
4 changed files with 18 additions and 182 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/config/demo_robot_mapping.rviz
+5 -165
View File
@@ -25,7 +25,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
@@ -110,173 +110,13 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
L_forearm_link:
Value: true
L_frame_tool_link:
Value: true
L_gripper_up_link:
Value: true
L_shoulder_fixed_link:
Value: true
L_shoulder_pan_link:
Value: true
L_shoulder_tilt_link:
Value: true
L_upper_arm_link:
Value: true
R_forearm_link:
Value: true
R_frame_tool_link:
Value: true
R_gripper_up_link:
Value: true
R_shoulder_fixed_link:
Value: true
R_shoulder_pan_link:
Value: true
R_shoulder_tilt_link:
Value: true
R_upper_arm_link:
Value: true
base_footprint:
Value: true
base_laser_link:
Value: true
base_link:
Value: true
head_l_eye_eyebrow_link:
Value: true
head_l_eye_link:
Value: true
head_l_eye_pupil_link:
Value: true
head_link:
Value: true
head_r_eye_eyebrow_link:
Value: true
head_r_eye_link:
Value: true
head_r_eye_pupil_link:
Value: true
map:
Value: true
neck_bracket_link:
Value: true
neck_pan_link:
Value: true
neck_tilt_link:
Value: true
neck_top_frame:
Value: true
odom:
Value: true
openni_base_link:
Value: true
openni_camera_link:
Value: true
openni_depth_frame:
Value: true
openni_depth_optical_frame:
Value: true
openni_rgb_frame:
Value: true
openni_rgb_optical_frame:
Value: true
torso_imu_link:
Value: true
torso_link:
Value: true
torso_stand_link:
Value: true
torso_top_frame:
Value: true
wheelLB_linkWheel_link:
Value: true
wheelLB_wheel_link:
Value: true
wheelLF_linkWheel_link:
Value: true
wheelLF_wheel_link:
Value: true
wheelRB_linkWheel_link:
Value: true
wheelRB_wheel_link:
Value: true
wheelRF_linkWheel_link:
Value: true
wheelRF_wheel_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_footprint:
base_link:
base_laser_link:
{}
torso_link:
L_shoulder_fixed_link:
L_shoulder_pan_link:
L_shoulder_tilt_link:
L_upper_arm_link:
L_forearm_link:
L_frame_tool_link:
{}
L_gripper_up_link:
{}
R_shoulder_fixed_link:
R_shoulder_pan_link:
R_shoulder_tilt_link:
R_upper_arm_link:
R_forearm_link:
R_frame_tool_link:
{}
R_gripper_up_link:
{}
torso_top_frame:
neck_pan_link:
neck_tilt_link:
neck_bracket_link:
neck_top_frame:
head_link:
head_l_eye_link:
head_l_eye_eyebrow_link:
{}
head_l_eye_pupil_link:
{}
head_r_eye_link:
head_r_eye_eyebrow_link:
{}
head_r_eye_pupil_link:
{}
openni_base_link:
openni_camera_link:
openni_depth_frame:
openni_depth_optical_frame:
{}
openni_rgb_frame:
openni_rgb_optical_frame:
{}
torso_imu_link:
{}
torso_stand_link:
{}
wheelLB_linkWheel_link:
wheelLB_wheel_link:
{}
wheelLF_linkWheel_link:
wheelLF_wheel_link:
{}
wheelRB_linkWheel_link:
wheelRB_wheel_link:
{}
wheelRF_linkWheel_link:
wheelRF_wheel_link:
{}
{}
Update Interval: 0
Value: true
- Class: rviz/Image
@@ -320,7 +160,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.01
Style: Points
Topic: /rtabmap/mapData_optimized
Topic: /rtabmap/mapData
Use Fixed Frame: true
Use rainbow: true
Value: true
@@ -329,7 +169,7 @@ Visualization Manager:
Color: 25; 255; 0
Enabled: true
Name: MapGraph
Topic: /rtabmap/mapData_optimized
Topic: /rtabmap/mapData
Value: true
- Alpha: 0.7
Class: rviz/Map
@@ -399,5 +239,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1273
X: 257
X: 250
Y: 86