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updated default values for az3_mapping_robot.launch

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1478 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-07 21:51:01 +00:00
parent 912e552783
commit 9a1e736d43
1 changed files with 12 additions and 2 deletions
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launch/azimut3/az3_mapping_robot.launch
+12 -2
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@@ -2,9 +2,19 @@
<launch> <launch>
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni --> <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone_openni.launch"/> <include file="$(find az3_bringup)/az3_standalone.launch"/>
<include file="$(find az3_bringup)/joystick.launch"/> <include file="$(find az3_bringup)/joystick.launch"/>
<!-- OpenNI -->
<!-- Xtion -->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="depth_registration" value="True" />
</include>
<!-- Xtion frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
<!-- Throttling messages --> <!-- Throttling messages -->
<group ns="camera"> <group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen"> <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
@@ -41,7 +51,7 @@
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. --> <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans --> <param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM --> <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM --> <param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) --> <param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D --> <param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccIcp2/Iterations" type="string" value="100"/> <param name="LccIcp2/Iterations" type="string" value="100"/>