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demo_robot_mapping.launch: limited proximity link length and number

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matlabbe
2017-12-06 17:04:11 -05:00
parent d8e4383fa0
commit b8f8c56d1d
1 changed files with 2 additions and 0 deletions
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launch/demo/demo_robot_mapping.launch
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@@ -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"/>