i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Uniformized "approx_sync" parameter name across all nodes. Updated rgbd_mapping.launch and stereo_mapping.launch to include rtabmap.launch instead of redefining all nodes.

Browse Source
This commit is contained in:
matlabbe
2016-06-30 12:49:20 -04:00
parent 88f164e6bf
commit 77faedf9d2
7 changed files with 191 additions and 251 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/rtabmap.launch
+5 -4
View File
@@ -37,7 +37,8 @@
<arg name="wait_for_transform" default="0.2"/>
<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<arg name="approx_sync" default="true"/> <!-- if timestamps of the input topics are not synchronized -->
<!-- RGB-D related topics -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
@@ -49,7 +50,6 @@
<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<arg name="approx_sync" default="false"/> <!-- if timestamps of the stereo images are not synchronized -->
<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
<!-- For depth_topic, "compressedDepth" image_transport is used. -->
@@ -91,6 +91,7 @@
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
@@ -125,7 +126,7 @@
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="stereo_approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
@@ -189,7 +190,7 @@
<param name="decimation" type="double" value="2"/>
<param name="voxel_size" type="double" value="0.02"/>
<param if="$(arg stereo)" name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
</node>
</launch>