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Updated data_recorder.launch for 0.11

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matlabbe
2016-03-11 17:04:11 -05:00
parent fdbac13a77
commit c8cfc7b3d4
1 changed files with 5 additions and 5 deletions
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launch/data_recorder.launch
+5 -5
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@@ -31,15 +31,15 @@
<node name="data_recorder" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<!-- Disable any processing -->
<param name="Mem/RehearsalSimilarity" type="string" value="1.0"/> <!-- desactivate rehearsal -->
<param name="Kp/WordsPerImage" type="string" value="-1"/> <!-- desactivate keypoints extraction -->
<param name="Rtabmap/MaxRetrieved" type="string" value="0"/> <!-- desactivate global retrieval -->
<param name="RGBD/MaxLocalRetrieved" type="string" value="0"/> <!-- desactivate local retrieval -->
<param name="Mem/RehearsalSimilarity" type="string" value="1.0"/> <!-- deactivate rehearsal -->
<param name="Kp/MaxFeatures" type="string" value="-1"/> <!-- deactivate keypoints extraction -->
<param name="Rtabmap/MaxRetrieved" type="string" value="0"/> <!-- deactivate global retrieval -->
<param name="RGBD/MaxLocalRetrieved" type="string" value="0"/> <!-- deactivate local retrieval -->
<param name="Mem/MapLabelsAdded" type="string" value="false"/> <!-- don't create map labels -->
<param name="Rtabmap/MemoryThr" type="string" value="2"/> <!-- keep the WM empty -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- STM=1 -->
<param name="publish_tf" type="bool" value="false"/> <!-- don't publish TF -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="false"/>
<param name="RGBD/LinearUpdate" type="string" value="0"/>
<param name="RGBD/AngularUpdate" type="string" value="0"/>
<param unless="$(arg subscribe_odometry)" name="RGBD/Enabled" type="string" value="false"/>