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Updated rgbdslam_datasets.launch to keep all poses (even when not moving)

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matlabbe
2022-04-10 15:05:54 -04:00
parent 3a025d9e75
commit 88ca603b99
1 changed files with 2 additions and 0 deletions
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launch/tests/rgbdslam_datasets.launch
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@@ -49,6 +49,8 @@
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/> <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="false"/> <param name="RGBD/CreateOccupancyGrid" type="string" value="false"/>
<param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/> <param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/>
<param name="RGBD/LinearUpdate" type="string" value="0"/>
<param name="RGBD/AngularUpdate" type="string" value="0"/>
<param name="frame_id" type="string" value="kinect"/> <param name="frame_id" type="string" value="kinect"/>
<param name="ground_truth_frame_id" type="string" value="world"/> <param name="ground_truth_frame_id" type="string" value="world"/>