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Update az3_mapping_robot_stereo_nav.launch

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Removed map_optimizer and map_assembler.
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matlabbe
2016-06-20 17:34:02 -04:00
committed by GitHub
parent e6135d70ee
commit 5da8245ebf
1 changed files with 1 additions and 14 deletions
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launch/azimut3/az3_mapping_robot_stereo_nav.launch
+1 -14
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@@ -21,7 +21,7 @@
<group ns="planner">
<remap from="openni_points" to="/planner_cloud"/>
<remap from="base_scan" to="/base_scan"/>
<remap from="map" to="/map"/>
<remap from="map" to="/rtabmap/proj_map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
@@ -160,20 +160,7 @@
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxWords" type="string" value="500"/>
<!-- Disable graph optimization because we use map_optimizer node below -->
<param name="RGBD/ToroIterations" type="string" value="0"/>
</node>
<!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
<param name="occupancy_grid" type="bool" value="true"/>
<remap from="mapData" to="mapData_optimized"/>
<remap from="grid_projection_map" to="/map"/>
</node>
</group>
</launch>