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Added MapGraph message to avoid MapGraphDisplay to subscribe to MapData (which can contain node data not used by MapGraphDisplay, that also limit the bandwidth used when MapCloudDisplay and MapGraphDisplay are added to RVIZ)

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matlabbe
2015-09-15 16:40:07 -04:00
parent 10a508c12c
commit 5edae82d98
17 changed files with 138 additions and 81 deletions
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launch/config/demo_robot_mapping.rviz
+1 -1
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@@ -169,7 +169,7 @@ Visualization Manager:
Color: 25; 255; 0
Enabled: true
Name: MapGraph
Topic: /rtabmap/mapData
Topic: /rtabmap/mapGraph
Value: true
- Alpha: 0.7
Class: rviz/Map
launch/config/demo_stereo_outdoor.rviz
+1 -1
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@@ -156,7 +156,7 @@ Visualization Manager:
Color: 25; 255; 0
Enabled: true
Name: MapGraph
Topic: /rtabmap/mapData_optimized
Topic: /rtabmap/mapDataGraph_optimized
Value: true
- Class: rviz/Image
Enabled: true