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updated demo_robot_mapping.launch

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matlabbe
2019-02-07 11:48:02 -05:00
parent 28f640997c
commit a570fbbe7c
1 changed files with 1 additions and 1 deletions
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launch/demo/demo_robot_mapping.launch
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@@ -48,7 +48,7 @@
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Vis/MinInliers" type="string" value="12"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="RGBD/OptimizeMaxError" type="string" value="2.0"/> <!-- Reject any loop closure causing large errors (>2x link's covariance) in the map -->
<param name="RGBD/OptimizeMaxError" type="string" value="3"/> <!-- Reject any loop closure causing large errors (>3x link's covariance) in the map -->
<param name="Reg/Force3DoF" type="string" value="true"/> <!-- 2D SLAM -->
<param name="Grid/FromDepth" type="string" value="false"/> <!-- Create 2D occupancy grid from laser scan -->
<param name="Mem/STMSize" type="string" value="30"/> <!-- increased to 30 to avoid adding too many loop closures on just seen locations -->