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Added apriltag_msgs support

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matlabbe
2023-05-06 16:12:11 -07:00
parent e7a4924d29
commit 96e8f0e223
3 changed files with 38 additions and 38 deletions
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rtabmap_launch/launch/rtabmap.launch.py
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@@ -471,7 +471,7 @@ def generate_launch_description():
DeclareLaunchArgument('gps_topic', default_value='/gps/fix', description='GPS async subscription. This is used for SLAM graph optimization and loop closure candidates selection.'),
# Tag/Landmark
DeclareLaunchArgument('tag_topic', default_value='/tag_detections', description='AprilTag topic async subscription. This is used for SLAM graph optimization and loop closure detection. Landmark poses are also published accordingly to current optimized map.'),
DeclareLaunchArgument('tag_topic', default_value='/detections', description='AprilTag topic async subscription. This is used for SLAM graph optimization and loop closure detection. Landmark poses are also published accordingly to current optimized map. Required: Remove optional frame name parameters from apriltag\'s cfg file so that TF frame can be deducted from topic\'s family and id.'),
DeclareLaunchArgument('tag_linear_variance', default_value='0.0001', description=''),
DeclareLaunchArgument('tag_angular_variance', default_value='9999.0', description='>=9999 means rotation is ignored in optimization, when rotation estimation of the tag is not reliable or not computed.'),
DeclareLaunchArgument('fiducial_topic', default_value='/fiducial_transforms', description='aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covariance.'),