From b8f8c56d1d30b531d4685dac31d64a8186eea305 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 6 Dec 2017 17:04:11 -0500
Subject: [PATCH] demo_robot_mapping.launch: limited proximity link length and
 number

---
 launch/demo/demo_robot_mapping.launch | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/launch/demo/demo_robot_mapping.launch b/launch/demo/demo_robot_mapping.launch
index 1e41ca5a..55dae5d1 100644
--- a/launch/demo/demo_robot_mapping.launch
+++ b/launch/demo/demo_robot_mapping.launch
@@ -46,6 +46,8 @@
 	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
 	  <param name="Reg/Force3DoF"             type="string" value="true"/>
 	  <param name="Grid/FromDepth"            type="string" value="false"/>
+          <param name="Mem/STMSize"               type="string" value="30"/>    <!--increased to 30 to avoid adding too many loop closures on just seen locations -->
+          <param name="RGBD/LocalRadius"          type="string" value="5"/>     <!--limit length of proximity detections -->
 	  
 	  <!-- localization mode -->
 	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>