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Odometry: added max_update_rate option.

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matlabbe
2020-05-20 15:10:17 -04:00
parent 0c4779c19e
commit cc79e19b1f
3 changed files with 25 additions and 5 deletions
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launch/rtabmap.launch
+9 -1
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@@ -100,7 +100,9 @@
<arg name="odom_sensor_sync" default="false"/>
<arg name="odom_guess_frame_id" default=""/>
<arg name="odom_guess_min_translation" default="0"/>
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="odom_max_rate" default="0"/>
<arg name="odom_expected_rate" default="0"/>
<arg name="imu_topic" default="/imu/data"/> <!-- only used with VIO approaches -->
<arg name="wait_imu_to_init" default="false"/>
@@ -213,6 +215,8 @@
<param name="guess_frame_id" type="string" value="$(arg odom_guess_frame_id)"/>
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="expected_update_rate" type="double" value="$(arg odom_expected_rate)"/>
<param name="max_update_rate" type="double" value="$(arg odom_max_rate)"/>
</node>
<!-- Stereo Odometry -->
@@ -239,6 +243,8 @@
<param name="guess_frame_id" type="string" value="$(arg odom_guess_frame_id)"/>
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="expected_update_rate" type="double" value="$(arg odom_expected_rate)"/>
<param name="max_update_rate" type="double" value="$(arg odom_max_rate)"/>
</node>
</group>
</group>
@@ -263,6 +269,8 @@
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
<param name="expected_update_rate" type="double" value="$(arg odom_expected_rate)"/>
<param name="max_update_rate" type="double" value="$(arg odom_max_rate)"/>
</node>
<node if="$(arg scan_cloud_assembling)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" output="screen">