i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

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