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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/demo/demo_catvehicle_mapping.launch
+14 -14
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@@ -4,10 +4,10 @@
<!-- 1) Make sure rtabmap is built with libpointmatcher for lidar:=true option (lidar SLAM)
2) Install https://github.com/jmscslgroup/catvehicle
We need a stereo camera and velodyne point cloud looking like the real
sensor (ring-like pattern), so we have to modifiy the default catvehicle
urdf. First we have to install velodyne_simulator package to have the
right gazebo plugin and copy this modified velodyne config:
We need a stereo camera and velodyne point cloud looking like the real
sensor (ring-like pattern), so we have to modifiy the default catvehicle
urdf. First we have to install velodyne_simulator package to have the
right gazebo plugin and copy this modified velodyne config:
* sudo apt install ros-$ROS_DISTRO-velodyne-simulator
* cp ~/catkin_ws/src/rtabmap_ros/launch/config/catvehicle_velodyne_points.gazebo ~/catkin_ws/src/catvehicle/urdf/.
Secondly, we have to modify the triclops config to make it stereo:
@@ -19,14 +19,14 @@
4) roslaunch catvehicle catvehicle_spawn.launch velodyne_points:=true triclops:=true Z:=5
5) roslaunch catvehicle joystick.launch
6) SLAM, 3 choices:
A) LiDAR-SLAM + Visual loop closure detection:
A) LiDAR-SLAM + Visual loop closure detection:
roslaunch rtabmap_ros demo_catvehicle_mapping.launch
B) LiDAR-SLAM without camera:
B) LiDAR-SLAM without camera:
roslaunch rtabmap_ros demo_catvehicle_mapping.launch camera:=false
C) Visual-SLAM without lidar:
C) Visual-SLAM without lidar:
roslaunch rtabmap_ros demo_catvehicle_mapping.launch lidar:=false
Note: Gazebo real-time factor should be equal or below 1. If it is over 1,
Note: Gazebo real-time factor should be equal or below 1. If it is over 1,
in gazebo client, select Physics, then change real time update rate to 500.
-->
<arg name="camera" default="true" />
@@ -35,7 +35,7 @@
<arg name="rtabmapviz" default="true" />
<arg name="rviz" default="true" />
<arg name="light" default="false" /> <!-- Don't record all scans if false -->
<arg name="altitude" default="0" /> <!-- assemble occupancy grids by altitude (radius in meters, 0=disabled) -->
<arg name="altitude" default="0" /> <!-- assemble occupancy grids by altitude (radius in meters, 0=disabled) -->
<arg name="localization" default="false" />
<!-- Common parameters -->
@@ -78,7 +78,7 @@
<!-- LiDAR SLAM parameters -->
<arg if="$(arg lidar)" name="args" value="$(arg clear_db) $(arg common_args)
--Reg/Strategy 1"/>
<!-- Visual SLAM parameters -->
<arg unless="$(arg lidar)" name="args" value="$(arg clear_db) $(arg common_args)
--Reg/Strategy 0
@@ -86,7 +86,7 @@
--Grid/MaxGroundHeight 0.7
--Grid/NoiseFilteringRadius 0.5"/>
<arg name="localization" value="$(arg localization)"/>
<arg name="localization" value="$(arg localization)"/>
<arg name="subscribe_scan_cloud" value="$(arg lidar)"/>
<arg name="stereo" value="$(arg camera)"/>
<arg unless="$(arg camera)" name="depth" value="false"/>
@@ -96,13 +96,13 @@
<arg if="$(arg lidar)" name="odom_topic" value="lidar_odom"/>
<arg unless="$(arg lidar)" name="odom_topic" value="visual_odom"/>
<arg name="odom_guess_frame_id" value="catvehicle/odom"/>
<arg name="frame_id" value="catvehicle/base_link"/>
<arg name="map_frame_id" value="catvehicle/map"/>
<arg if="$(arg lidar)" name="vo_frame_id" value="catvehicle/lidar_odom"/>
<arg unless="$(arg lidar)" name="vo_frame_id" value="catvehicle/visual_odom"/>
<arg name="stereo_namespace" value="/catvehicle/triclops"/>
<arg name="right_image_topic" value="/catvehicle/triclops/right/image_rect_color"/>
<arg name="scan_cloud_topic" value="/catvehicle/velodyne_points"/>
@@ -122,4 +122,4 @@
</include>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/catvehicle.rviz"/>
</launch>
</launch>