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rtabmap node publishes now directly /rtabmap/cloud_map, /rtabmap/proj_map and /rtabmap/grid_map (added all related rosparam), update grid_map_assembler node with the new efficient way of creating map

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Mathieu Labbe
2015-02-11 17:09:29 -05:00
parent 766f84028f
commit c139c263db
10 changed files with 682 additions and 170 deletions
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launch/demo/demo_robot_mapping.launch
-5
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@@ -42,11 +42,6 @@
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
</node>
<!-- Grid map assembler for rviz -->
<node if="$(arg rviz)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
<param name="unknown_space_filled" type="bool" value="false"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>