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rtabmap.launch: when icp_odometry option is true, make rtabmapviz subscribe only to PointCloud2 output of icp_odometry

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matlabbe
2021-02-16 10:52:57 -05:00
parent b96030dac2
commit 95206c684a
1 changed files with 3 additions and 3 deletions
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launch/rtabmap.launch
+3 -3
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@@ -360,8 +360,9 @@
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgbd" type="bool" value="$(eval subscribe_rgbd or use_odom_features)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param unless="$(arg icp_odometry)" name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param if="$(arg icp_odometry)" name="subscribe_scan_cloud" type="bool" value="$(eval subscribe_scan or subscribe_scan_cloud)"/>
<param unless="$(arg icp_odometry)" name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param name="subscribe_scan_descriptor" type="bool" value="$(arg subscribe_scan_descriptor)"/>
<param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
<param if="$(arg icp_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
@@ -383,7 +384,6 @@
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap if="$(arg icp_odometry)" from="scan" to="odom_filtered_input_scan"/>
<remap unless="$(arg icp_odometry)" from="scan" to="$(arg scan_topic)"/>
<remap if="$(arg icp_odometry)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg icp_odometry)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>