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0.17.4 (added optional imu input topic to stereo odometry when a vio approach is selected, see Odom/Strategy parameter)

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matlabbe
2018-07-23 15:58:51 -04:00
parent 08972a5a32
commit 7a648a83d4
8 changed files with 151 additions and 35 deletions
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launch/rtabmap.launch
+4 -2
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@@ -91,7 +91,8 @@
<arg name="odom_sensor_sync" default="false"/>
<arg name="odom_guess_frame_id" default=""/>
<arg name="odom_guess_min_translation" default="0"/>
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="imu_topic" default="/imu"/> <!-- only used with VIO approaches -->
<arg name="subscribe_user_data" default="false"/> <!-- user data synchronized subscription -->
<arg name="user_data_topic" default="/user_data"/>
@@ -190,6 +191,7 @@
<remap if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
<remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg vo_frame_id)"/>
@@ -227,7 +229,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>