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demo_turtlebot_mapping.launch: added sw_registered argument

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matlabbe
2018-08-02 14:32:20 -04:00
parent 3c6eaeea3f
commit bc4b7a860e
1 changed files with 5 additions and 1 deletions
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launch/demo/demo_turtlebot_mapping.launch
+5 -1
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@@ -31,6 +31,7 @@
<arg name="rtabmapviz" default="false"/> <arg name="rtabmapviz" default="false"/>
<arg name="localization" default="false"/> <arg name="localization" default="false"/>
<arg name="simulation" default="false"/> <arg name="simulation" default="false"/>
<arg name="sw_registered" default="false"/>
<arg if="$(arg localization)" name="args" default=""/> <arg if="$(arg localization)" name="args" default=""/>
<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/> <arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
@@ -47,7 +48,10 @@
--> -->
<!-- Navigation stuff (move_base) --> <!-- Navigation stuff (move_base) -->
<include unless="$(arg simulation)" file="$(find turtlebot_bringup)/launch/3dsensor.launch"/> <include unless="$(arg simulation)" file="$(find turtlebot_bringup)/launch/3dsensor.launch">
<arg if="$(arg sw_registered)" name="depth_registration" value="false"/>
<arg unless="$(arg sw_registered)" name="depth_registration" value="true"/>
</include>
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/> <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
<!-- Mapping --> <!-- Mapping -->