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Added localization diagnostic when loc_thr parameter is set.

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matlabbe
2023-10-30 18:02:37 -07:00
parent 3293f2b51a
commit 806f0ad66d
5 changed files with 82 additions and 10 deletions
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rtabmap_launch/launch/rtabmap.launch
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@@ -28,6 +28,7 @@
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg name="initial_pose" default=""/> <!-- Format: "x y z roll pitch yaw" or "x y z qx qy qz qw". Default: see "RGBD/StartAtOrigin" doc -->
<arg name="loc_thr" default="0.0"/> <!-- In localization mode, setting this threshold will make rtabmap publishing diagnostics about if the robot is localized (under that error threshold). -->
<!-- sim time for convenience, if playing a rosbag -->
<arg name="use_sim_time" default="false"/>
@@ -366,6 +367,7 @@
<param name="publish_tf" type="bool" value="$(arg publish_tf_map)"/>
<param name="initial_pose" type="string" value="$(arg initial_pose)"/>
<param name="gen_scan" type="bool" value="$(arg gen_scan)"/>
<param name="loc_thr" type="double" value="$(arg loc_thr)"/>
<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)"/>