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updated demo_robot_mapping.launch to use always PCL ICP to have consistent results between build configs (binaries or from source built with libpointmacher dependency).

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matlabbe
2021-02-12 18:44:30 -05:00
parent d4651d1fe0
commit b96030dac2
1 changed files with 5 additions and 2 deletions
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launch/demo/demo_robot_mapping.launch
+5 -2
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@@ -48,12 +48,15 @@
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=Visual, 1=ICP, 2=Visual+ICP --> <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="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/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="RGBD/OptimizeMaxError" type="string" value="3"/> <!-- Reject any loop closure causing large errors (>3x link's covariance) in the map --> <param name="RGBD/OptimizeMaxError" type="string" value="4"/> <!-- 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="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="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 --> <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 --> <param name="RGBD/LocalRadius" type="string" value="5"/> <!-- limit length of proximity detections -->
<param name="Icp/CorrespondenceRatio" type="string" value="0.4"/> <!-- minimum scan overlap to accept loop closure --> <param name="Icp/CorrespondenceRatio" type="string" value="0.2"/> <!-- minimum scan overlap to accept loop closure -->
<param name="Icp/PM" type="string" value="false"/>
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="0.05"/>
<!-- localization mode --> <!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/> <param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>