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rtabmap.launch: Exposed ground_truth_frame_id parameter

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matlabbe
2017-05-17 15:02:55 -04:00
parent 63b6acf031
commit 797571cd26
1 changed files with 4 additions and 0 deletions
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launch/rtabmap.launch
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@@ -32,6 +32,8 @@
<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published --> <arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="odom_frame_id" default=""/> <!-- If set, TF is used to get odometry instead of the topic --> <arg name="odom_frame_id" default=""/> <!-- If set, TF is used to get odometry instead of the topic -->
<arg name="map_frame_id" default="map"/> <arg name="map_frame_id" default="map"/>
<arg name="ground_truth_frame_id" default=""/> <!-- e.g., "world" -->
<arg name="ground_truth_base_frame_id" default=""/> <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
<arg name="namespace" default="rtabmap"/> <arg name="namespace" default="rtabmap"/>
<arg name="database_path" default="~/.ros/rtabmap.db"/> <arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="queue_size" default="10"/> <arg name="queue_size" default="10"/>
@@ -142,6 +144,8 @@
<param name="frame_id" type="string" value="$(arg frame_id)"/> <param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="map_frame_id" type="string" value="$(arg map_frame_id)"/> <param name="map_frame_id" type="string" value="$(arg map_frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/> <param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
<param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/> <param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/>
<param name="odom_tf_linear_variance" type="double" value="$(arg odom_tf_linear_variance)"/> <param name="odom_tf_linear_variance" type="double" value="$(arg odom_tf_linear_variance)"/>
<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)"/>