i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-09 03:07:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

remove trailing whitespace from launch files

Browse Source
This commit is contained in:
Lucas Walter
2023-01-15 07:00:31 -08:00
parent a42f00191a
commit cec01bc0c8
87 changed files with 1024 additions and 1024 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/azimut3/az3_nav.launch
+21 -21
View File
@@ -31,24 +31,24 @@
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="goal_out" to="current_goal"/>
<remap from="goal_out" to="current_goal"/>
<remap from="move_base" to="/planner/move_base"/>
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters -->
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="RGBD/AngularUpdate" type="string" value="0.1"/>
<param name="RGBD/LinearUpdate" type="string" value="0.1"/>
<param name="RGBD/LocalRadius" type="string" value="5"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Mem/ImagePostDecimation" type="string" value="4"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
<param name="Rtabmap/TimeThr" type="string" value="600"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -57,16 +57,16 @@
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Optimizer/Strategy" type="string" value="0"/>
<param name="Optimizer/Strategy" type="string" value="0"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/MaxFeatures" type="string" value="200"/>
<param name="SURF/HessianThreshold" type="string" value="500"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="5"/>
<param name="Vis/MinInliers" type="string" value="5"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
@@ -74,7 +74,7 @@
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
</group>
<!-- teleop -->
<node name="joy" pkg="joy" type="joy_node"/>
<group ns="teleop">
@@ -98,7 +98,7 @@
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
</group>
@@ -111,17 +111,17 @@
args="/cmd_eta /teleop/cmd_eta"/>
<node name="register_cmd_vel" pkg="abtr_priority" type="register"
args="/cmd_vel /planner/cmd_vel"/>
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
<param name="rate" type="double" value="5"/>
<param name="decimation" type="int" value="2"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
<remap from="rgb/image_out" to="data_resized_image"/>
<remap from="depth/image_out" to="data_resized_image_depth"/>
<remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
@@ -136,17 +136,17 @@
<param name="max_depth" type="double" value="3.0"/>
<param name="voxel_size" type="double" value="0.02"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.4"/>
</node>
</node>
</group>
</launch>