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Updated turtlebot demo launch file (disabled proximity scan matching and increased minInliers). Added demo_turtlebot_tango.launch

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matlabbe
2017-05-17 14:12:50 -04:00
parent 26b69581a4
commit 63b6acf031
2 changed files with 126 additions and 4 deletions
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launch/demo/demo_turtlebot_mapping.launch
+6 -4
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@@ -22,10 +22,11 @@
-->
<arg name="database_path" default="rtabmap.db"/>
<arg name="localization" default="false"/>
<arg name="rgbd_odometry" default="false"/>
<arg name="args" default=""/>
<arg name="rtabmapviz" default="false"/>
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="args" default=""/>
<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
<arg name="wait_for_transform" default="0.2"/>
<!--
@@ -61,12 +62,13 @@
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
<param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- Loop closure transformation refining with ICP: 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Reg/Strategy" type="string" value="0"/> <!-- Loop closure transformation: 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
<param name="Vis/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="Vis/MinInliers" type="string" value="15"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>