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demo husky: added 3dlidar+slam2d examples

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matlabbe
2021-05-30 10:13:17 -04:00
parent d8674396e0
commit a850f61b77
1 changed files with 12 additions and 3 deletions
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launch/demo/demo_husky.launch
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@@ -16,13 +16,22 @@
3) 6DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true
4) 3DoF mapping with 2D LiDAR
4) 3DoF mapping with 3D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true
5) 3DoF mapping with 3D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true
6) 3DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true icp_odometry:=true
7) 3DoF mapping with 2D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true
5) 3DoF mapping with 2D LiDAR and RGB-D camera
8) 3DoF mapping with 2D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true
6) 6DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
9) 3DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true icp_odometry:=true
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