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ROS: updated demo launch files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1069 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-01-22 20:24:29 +00:00
parent c87beade6a
commit 5cecdc318c
5 changed files with 16 additions and 4 deletions
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rtabmap/launch/demo/demo_robot_localization.launch
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@@ -33,6 +33,10 @@
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
</node>
<!-- Visualisation (client side) -->