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Update test_velodyne.launch

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matlabbe
2021-02-07 18:02:12 -05:00
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parent 1f5239245c
commit 962ef3b312
1 changed files with 2 additions and 0 deletions
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launch/tests/test_velodyne.launch
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@@ -72,6 +72,7 @@
<param name="approx_sync" type="bool" value="false"/>
<remap from="scan_cloud" to="assembled_cloud"/>
<remap from="imu" to="$(arg imu_topic)"/>
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -92,6 +93,7 @@
<param name="Grid/RangeMax" type="string" value="20"/>
<param name="Grid/ClusterRadius" type="string" value="1"/>
<param name="Grid/GroundIsObstacle" type="string" value="true"/>
<param name="Optimizer/GravitySigma" type="string" value="0.3"/>
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.2"/>