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updated rtabmap.launch to be able to do lidar-only slam

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matlabbe
2020-02-20 16:05:09 -05:00
parent 231418e098
commit 8a3af1d14f
2 changed files with 21 additions and 9 deletions
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src/OdometryROS.cpp
+5
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@@ -204,6 +204,7 @@ void OdometryROS::onInit()
//parameters
ROS_INFO("Odometry: stereoParams_=%d visParams_=%d icpParams_=%d", stereoParams_?1:0, visParams_?1:0, icpParams_?1:0);
parameters_ = Parameters::getDefaultOdometryParameters(stereoParams_, visParams_, icpParams_);
if(icpParams_)
{
@@ -289,6 +290,10 @@ void OdometryROS::onInit()
NODELET_INFO( "Update odometry parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
jter->second = iter->second;
}
else
{
NODELET_INFO( "Odometry: Ignored parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
}
}
// Backward compatibility