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remove trailing whitespace from launch files

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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
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launch/azimut3/az3_nav_kinect_odom.launch
+23 -23
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@@ -5,7 +5,7 @@
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
<include file="$(find az3_bringup)/az3_standalone.launch"/>
@@ -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="proj_map" to="/map"/>
<!-- RTAB-Map's parameters -->
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="0"/>
<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="0"/>
<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/ImageDecimation" type="string" value="1"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
<param name="Rtabmap/TimeThr" type="string" value="600"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -64,7 +64,7 @@
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Optimizer/Iterations" type="string" value="100"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Optimizer/Strategy" type="string" value="1"/>
<param name="Optimizer/Strategy" type="string" value="1"/>
<param name="Optimizer/Robust" type="string" value="false"/>
<param name="Optimizer/VarianceIgnored" type="string" value="true"/>
<param name="RGBD/PlanStuckIterations" type="string" value="10"/>
@@ -73,14 +73,14 @@
<param name="Kp/MaxFeatures" type="string" value="300"/>
<param name="SURF/HessianThreshold" type="string" value="500"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(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>
</group>
<!-- teleop -->
<node name="joy" pkg="joy" type="joy_node"/>
<group ns="teleop">
@@ -96,8 +96,8 @@
<remap from="ground_cloud" to="/ground_cloud"/>
<remap from="map" to="/map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/>
<arg name="observation_sources" value="point_cloud_sensorA point_cloud_sensorB"/>
<arg name="observation_sources" value="point_cloud_sensorA point_cloud_sensorB"/>
<node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml" command="load" ns="global_costmap" />
@@ -108,7 +108,7 @@
<param name="global_costmap/obstacle_layer/observation_sources" value="$(arg observation_sources)"/>
<param name="local_costmap/obstacle_layer/observation_sources" value="$(arg observation_sources)"/>
</node>
<param name="cmd_vel/abtr_priority" value="10"/>
</group>
@@ -121,17 +121,17 @@
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"/>
@@ -146,17 +146,17 @@
<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>