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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_stereo_outdoor.launch
+27 -27
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@@ -1,28 +1,28 @@
<?xml version="1.0"?>
<launch>
<!--
Demo of outdoor stereo mapping.
From bag:
$ rosbag record
/stereo_camera/left/image_raw_throttle/compressed
/stereo_camera/right/image_raw_throttle/compressed
/stereo_camera/left/camera_info_throttle
/stereo_camera/right/camera_info_throttle
Demo of outdoor stereo mapping.
From bag:
$ rosbag record
/stereo_camera/left/image_raw_throttle/compressed
/stereo_camera/right/image_raw_throttle/compressed
/stereo_camera/left/camera_info_throttle
/stereo_camera/right/camera_info_throttle
/tf
$ roslaunch rtabmap demo_stereo_outdoor.launch
$ rosbag play -.-clock stereo_oudoorA.bag
-->
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="local_bundle" default="true" />
<arg name="stereo_sync" default="false" />
<param name="use_sim_time" type="bool" value="True"/>
<!-- Just to uncompress images for stereo_image_rect -->
<node name="republish_left" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
<node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />
@@ -36,7 +36,7 @@
<remap from="right/camera_info" to="right/camera_info_throttle"/>
<param name="disparity_range" value="128"/>
</node>
<node if="$(arg stereo_sync)" pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync">
<remap from="left/image_rect" to="left/image_rect_color"/>
<remap from="right/image_rect" to="right/image_rect"/>
@@ -44,10 +44,10 @@
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
</group>
<group ns="rtabmap">
<!-- Stereo Odometry -->
<group ns="rtabmap">
<!-- Stereo Odometry -->
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
@@ -66,12 +66,12 @@
<param name="Odom/GuessMotion" type="string" value="true"/>
<param name="Vis/MinInliers" type="string" value="10"/>
<param unless="$(arg local_bundle)" name="OdomF2M/BundleAdjustment" type="string" value="0"/>
<param name="OdomF2M/MaxSize" type="string" value="1000"/>
<param name="OdomF2M/MaxSize" type="string" value="1000"/>
<param name="GFTT/MinDistance" type="string" value="10"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
</node>
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
@@ -95,12 +95,12 @@
<param name="Grid/DepthDecimation" type="string" value="4"/>
<param name="Grid/FlatObstacleDetected" type="string" value="true"/>
<param name="Kp/MaxDepth" type="string" value="0"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
<param name="Vis/MaxDepth" type="string" value="0"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="true"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="true"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
@@ -108,7 +108,7 @@
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
@@ -118,10 +118,10 @@
<remap from="odom" to="/stereo_odometry"/>
<remap from="mapData" to="mapData"/>
</node>
</group>
<!-- Visualisation RVIZ -->
<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_stereo_outdoor.rviz"/>
</launch>