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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_husky.launch
+46 -46
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@@ -1,52 +1,52 @@
<?xml version="1.0"?>
<!-- -->
<launch>
<!-- Bringup the Husky with SICK (2D LiDAR), realsense camera (RGB-D camera) and velodyne (3D LiDAR):
$ export HUSKY_URDF_EXTRAS=$(rospack find rtabmap_ros)/launch/config/husky_velodyne_extra.urdf.xacro
$ roslaunch husky_gazebo husky_playpen.launch realsense_enabled:=true
$ roslaunch husky_viz view_robot.launch
$ roslaunch husky_viz view_robot.launch
For ICP odometry examples, rtabmap should be built with libpointmatcher.
Examples:
1) 6DoF mapping with 3D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false
2) 6DoF mapping with 3D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true
3) 6DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true
4) 3DoF mapping with 3D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true
5) 3DoF mapping with 3D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true
6) 3DoF mapping with 3D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true icp_odometry:=true
7) 3DoF mapping with 2D LiDAR
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true
8) 3DoF mapping with 2D LiDAR and RGB-D camera
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true
9) 3DoF mapping with 2D LiDAR and RGB-D camera and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar2d:=true slam2d:=true camera:=true icp_odometry:=true
10) 6DoF mapping with 3D LiDAR and RGB camera (depth generated by lidar projection) and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=false camera:=true icp_odometry:=true depth_from_lidar:=true rtabmapviz:=true
11) 3DoF mapping with 3D LiDAR and RGB camera (depth generated by lidar projection) and ICP odometry (with wheel odometry as guess)
$ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true camera:=true icp_odometry:=true depth_from_lidar:=true rtabmapviz:=true
Issues:
When setting icp_odometry:=true with navigation, sending a goal to move_base could cause errors like:
"Extrapolation Error: Lookup would require extrapolation into the future. Requested
time 1340.520000000 but the latest data is at time 1340.500000000, when looking up
"Extrapolation Error: Lookup would require extrapolation into the future. Requested
time 1340.520000000 but the latest data is at time 1340.500000000, when looking up
transform from frame [odom] to frame [map]"
To fix this change "global_frame: odom" to "global_frame: icp_odom" in "husky_navigation/config/costmap_local.yaml"
-->
@@ -61,36 +61,36 @@
<arg name="lidar3d_ray_tracing" default="true"/>
<arg name="slam2d" default="true"/>
<arg name="depth_from_lidar" default="false"/>
<arg if="$(arg lidar3d)" name="cell_size" default="0.3"/>
<arg unless="$(arg lidar3d)" name="cell_size" default="0.05"/>
<arg if="$(arg lidar2d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/MaxTranslation 1"/>
<arg if="$(arg lidar3d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--ICP/PM true
--Icp/PMOutlierRatio 0.7
--Icp/VoxelSize $(arg cell_size)
--Icp/MaxCorrespondenceDistance 1
--Icp/PointToPlaneGroundNormalsUp 0.9
--Icp/Iterations 10
--Icp/Epsilon 0.001
--OdomF2M/ScanSubtractRadius $(arg cell_size)
--OdomF2M/ScanMaxSize 15000
--Grid/ClusterRadius 1
--Grid/RangeMax 20
--Grid/RayTracing $(arg lidar3d_ray_tracing)
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/PointToPlaneNormalK 10
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--ICP/PM true
--Icp/PMOutlierRatio 0.7
--Icp/VoxelSize $(arg cell_size)
--Icp/MaxCorrespondenceDistance 1
--Icp/PointToPlaneGroundNormalsUp 0.9
--Icp/Iterations 10
--Icp/Epsilon 0.001
--OdomF2M/ScanSubtractRadius $(arg cell_size)
--OdomF2M/ScanMaxSize 15000
--Grid/ClusterRadius 1
--Grid/RangeMax 20
--Grid/RayTracing $(arg lidar3d_ray_tracing)
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/PointToPlaneNormalK 10
--Icp/MaxTranslation 1"/>
<!--- Run rtabmap -->
@@ -106,17 +106,17 @@
<arg name="frame_id" value="base_link" />
<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
<arg name="gps_topic" value="/navsat/fix"/>
<!-- 2D LiDAR -->
<arg name="subscribe_scan" value="$(arg lidar2d)" />
<arg if="$(arg lidar2d)" name="scan_topic" value="/scan" />
<arg unless="$(arg lidar2d)" name="scan_topic" value="/scan_not_used" />
<!-- 3D LiDAR -->
<arg name="subscribe_scan_cloud" value="$(arg lidar3d)" />
<arg if="$(arg lidar3d)" name="scan_cloud_topic" value="/velodyne_points" />
<arg unless="$(arg lidar3d)" name="scan_cloud_topic" value="/scan_cloud_not_used" />
<!-- If camera is used -->
<arg name="depth" value="$(eval camera and not depth_from_lidar)" />
<arg name="subscribe_rgb" value="$(eval camera)" />
@@ -125,14 +125,14 @@
<arg name="camera_info_topic" value="/realsense/color/camera_info" />
<arg name="depth_topic" value="/realsense/depth/image_rect_raw" />
<arg name="approx_rgbd_sync" value="false" />
<!-- If depth generated from lidar projection (in case we have only a single RGB camera with a 3D lidar) -->
<arg name="gen_depth" value="$(arg depth_from_lidar)" />
<arg name="gen_depth_decimation" value="4" />
<arg name="gen_depth_fill_holes_size" value="3" />
<arg name="gen_depth_fill_iterations" value="1" />
<arg name="gen_depth_fill_holes_error" value="0.3" />
<!-- If icp_odometry is used -->
<arg if="$(arg icp_odometry)" name="icp_odometry" value="true" />
<arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" />