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Update demo_turtlebot_mapping.launch

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backward compatibility with 0.8.3 (hydro binaries)
This commit is contained in:
matlabbe
2015-06-03 11:41:59 -04:00
parent 2568ff30c2
commit c52c326655
1 changed files with 9 additions and 3 deletions
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launch/demo/demo_turtlebot_mapping.launch
+9 -3
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@@ -25,6 +25,7 @@
<arg name="localization" default="false"/> <arg name="localization" default="false"/>
<arg name="rgbd_odometry" default="false"/> <arg name="rgbd_odometry" default="false"/>
<arg name="args" default=""/> <arg name="args" default=""/>
<arg name="version083" default="false"/>
<!-- Navigation stuff (move_base) --> <!-- Navigation stuff (move_base) -->
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/> <include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
@@ -48,8 +49,8 @@
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<!-- output --> <!-- output -->
<remap from="grid_map" to="/map"/> <remap unless="$(arg version083)" from="grid_map" to="/map"/>
<!-- <remap from="proj_map" to="/map"/> --> <!-- <remap unless="$(arg version083)" from="proj_map" to="/map"/> -->
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. --> <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM --> <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
@@ -69,7 +70,7 @@
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/> <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/> <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node> </node>
<!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. --> <!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. -->
<node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen"> <node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
@@ -79,6 +80,11 @@
<remap from="depth/image" to="/camera/depth_registered/image_raw"/> <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/> <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node> </node>
<!-- backward compatibility with hydro 0.8.3 only -->
<node if="$(arg version083)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
<remap from="grid_map" to="/map"/>
</node>
</group> </group>
</launch> </launch>