merged master

launch/azimut3/az3_mapping_robot.launch

@@ -1,10 +1,11 @@
+<?xml version="1.0"?>
 
 <launch>
 
   <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
   <include file="$(find az3_bringup)/az3_standalone.launch"/>
   <!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
-  
+
   <!-- OpenNI -->
   <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
 
@@ -12,35 +13,35 @@
   <group ns="camera">
     <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
       <param name="rate" type="double" value="5.0"/>
-   
+
       <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
       <remap from="depth/image_in"     to="depth_registered/image_raw"/>
       <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
-    
+
       <remap from="rgb/image_out"       to="data_throttled_image"/>
       <remap from="depth/image_out"     to="data_throttled_image_depth"/>
       <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
-    </node>  
-  </group>  
+    </node>
+  </group>
 
   <!-- SLAM (robot side) -->
   <!-- args: "delete_db_on_start" and "udebug" -->
   <group ns="rtabmap">
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
 	  <param name="frame_id" type="string" value="base_footprint"/>
-	
+
 	  <param name="subscribe_depth" type="bool" value="true"/>
 	  <param name="subscribe_laserScan" type="bool" value="true"/>
-	
+
 	  <remap from="odom" to="/base_controller/odom"/>
 	  <remap from="scan" to="/base_scan"/>
 
 	  <remap from="rgb/image" to="/camera/data_throttled_image"/>
   	  <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
   	  <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
-	
+
 	  <param name="queue_size" type="int" value="10"/>
-	
+
 	  <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
 	  <param name="RGBD/ScanMatchingSize" type="string" value="1"/>             <!-- Do odometry correction with consecutive laser scans -->
 	  <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>   <!-- Local loop closure detection (using estimated position) with locations in WM -->
@@ -56,7 +57,7 @@
 	  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>              <!-- Update map only if the robot is moving -->
 	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
 	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
-	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>   
+	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
     </node>
   </group>
 </launch>