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rtabmap: get_plan and get_plan_nodes return poses in same frame than the one set in the goal. robot_demo_mapping.launch: increased Icp/CorrespondenceRatio to filter more not so accurate proximity detections (causing loop closures to be rejected).

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matlabbe
2019-03-25 14:57:50 -04:00
parent 2ae24855af
commit c8449dff2e
2 changed files with 29 additions and 22 deletions
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launch/demo/demo_robot_mapping.launch
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@@ -53,6 +53,7 @@
<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="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 -->
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>