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Merge branch 'master' of https://github.com/introlab/rtabmap_ros into devel

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matlabbe
2018-02-01 22:19:12 -05:00
parent 20c5211143 457adfa3c1
commit 779eab7fc6
1 changed files with 4 additions and 2 deletions
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launch/demo/demo_turtlebot_mapping.launch
+4 -2
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@@ -56,16 +56,17 @@
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
<param name="database_path" type="string" value="$(arg database_path)"/> <param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/> <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/> <param name="subscribe_scan" type="bool" value="true"/>
<param name="map_negative_poses_ignored" type="bool" value="true"/>
<!-- inputs --> <!-- inputs -->
<remap from="scan" to="/scan"/> <remap from="scan" to="/scan"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/> <remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/> <remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap unless="$(arg rgbd_odometry)" from="odom" to="/odom"/>
<!-- output --> <!-- output -->
<remap from="grid_map" to="/map"/> <remap from="grid_map" to="/map"/>
@@ -84,7 +85,8 @@
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/> <param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Optimizer/Slam2D" type="string" value="true"/> <param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/> <param name="Reg/Force3DoF" type="string" value="true"/>
<param name="GridGlobal/MinSize" type="string" value="20"/>
<!-- localization mode --> <!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/> <param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>