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Update demo_turtlebot_mapping.launch

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Set "map_negative_poses_ignored" to avoid false obstacles when there is no scan reading (bug that will be fixed when devel will be merged).
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matlabbe
2018-01-17 22:56:11 -05:00
committed by GitHub
parent 37b85a5c7a
commit b7d64182b6
1 changed files with 2 additions and 1 deletions
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launch/demo/demo_turtlebot_mapping.launch
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@@ -56,16 +56,17 @@
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
<param name="database_path" type="string" value="$(arg database_path)"/> <param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/> <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="subscribe_depth" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/> <param name="subscribe_scan" type="bool" value="true"/>
<param name="map_negative_poses_ignored" type="bool" value="true"/>
<!-- inputs --> <!-- inputs -->
<remap from="scan" to="/scan"/> <remap from="scan" to="/scan"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/> <remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/> <remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap unless="$(arg rgbd_odometry)" from="odom" to="/odom"/>
<!-- output --> <!-- output -->
<remap from="grid_map" to="/map"/> <remap from="grid_map" to="/map"/>