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Added "odom_sensor_sync" ros parameter (rtabmap and rtabmapviz nodes)

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matlabbe
2016-08-31 12:45:55 -04:00
parent 02decf639d
commit 66c2af5959
10 changed files with 54 additions and 71 deletions
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launch/demo/demo_robot_mapping.launch
-1
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@@ -40,7 +40,6 @@
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/ProximityByTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
launch/demo/demo_stereo_outdoor.launch
+2
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@@ -77,6 +77,8 @@
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Grid/DepthDecimation" type="string" value="4"/>
<param name="Grid/FlatObstacleDetected" type="string" value="true"/>
<param name="Kp/MaxFeatures" type="string" value="200"/>
<param name="Kp/MaxDepth" type="string" value="10"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
launch/tests/rgbdslam_datasets.launch
+2
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@@ -62,6 +62,8 @@
<param name="RGBD/LoopClosureReextractFeatures" type="string" value="false"/>
<param name="Mem/RawDescriptorsKept" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="false"/>
<param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/>
<param name="frame_id" type="string" value="kinect"/>
<param name="ground_truth_frame_id" type="string" value="world"/>