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Added assert on PointCloud2 format (#560). rtabmap.launch: added gdb option for convenience.

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matlabbe
2021-03-27 21:51:06 -04:00
parent e7dd6cacbf
commit b9c7efdc8a
6 changed files with 14 additions and 5 deletions
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launch/config/husky_velodyne_extra.urdf.xacro
+2 -2
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@@ -2,8 +2,8 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<VLP-16 parent="base_laser_mount" name="velodyne" topic="velodyne_points" gpu="true">
<xacro:VLP-16 parent="base_laser_mount" name="velodyne" topic="velodyne_points" gpu="true" organize_cloud="true">
<origin xyz="0.025 0 0.175" rpy="0 0 0" />
</VLP-16>
</xacro:VLP-16>
</robot>
launch/rtabmap.launch
+4 -2
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@@ -1,4 +1,4 @@
<!-- -->
<launch>
<!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
@@ -46,7 +46,9 @@
<arg name="wait_for_transform" default="0.2"/>
<arg name="args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="rtabmap_args" default="$(arg args)"/> <!-- deprecated, use "args" argument -->
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<arg name="gdb" default="false"/> <!-- Launch nodes in gdb for debugging (apt install xterm gdb) -->
<arg if="$(arg gdb)" name="launch_prefix" default="xterm -e gdb -q -ex run --args"/>
<arg unless="$(arg gdb)" name="launch_prefix" default=""/>
<arg name="output" default="screen"/> <!-- Control node output (screen or log) -->
<arg name="publish_tf_map" default="true"/>