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rtabmap node: Added initial_pose parameter

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matlabbe
2022-11-06 10:07:21 -08:00
parent 276a5f4ac2
commit 9c82e2ac1a
2 changed files with 20 additions and 0 deletions
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launch/rtabmap.launch
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@@ -26,6 +26,7 @@
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg name="initial_pose" default=""/> <!-- Format: "x y z roll pitch yaw" or "x y z qx qy qz qw". Default: see "rtabmap --params | grep RGBD/StartAtOrigin" -->
<!-- sim time for convenience, if playing a rosbag -->
<arg name="use_sim_time" default="false"/>
@@ -362,6 +363,7 @@
<param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param name="odom_frame_id_init" type="string" value="$(arg odom_frame_id_init)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf_map)"/>
<param name="initial_pose" type="string" value="$(arg initial_pose)"/>
<param name="gen_scan" type="bool" value="$(arg gen_scan)"/>
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>