i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-10 19:49:49 +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/demo/demo_stereo_pr2.launch
+14 -14
View File
@@ -2,7 +2,7 @@
<launch>
<!-- 6DOF stereo demo: download a bag example from http://projects.csail.mit.edu/stata/downloads.php.
You will need to remove the transform /combined_odometry from the /tf messages:
$ rosbag filter 2011-01-20-07-18-45.bag out.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/odom_combined"'
$ rosbag filter 2011-01-20-07-18-45.bag out.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/odom_combined"'
Run the example:
$ roslaunch rtabmap demo_stereo.launch
$ rosbag play -.-clock out.bag (replace -.- by double-dashes)
@@ -25,37 +25,37 @@
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
</node>
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<remap from="rgb/image" to="/wide_stereo/left/image_rect"/>
<remap from="rgb/camera_info" to="/wide_stereo/left/camera_info"/>
<remap from="depth/image" to="/wide_stereo/depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<remap from="scan" to="/base_scan"/>
<param name="frame_id" type="string" value="/base_footprint"/>
<param name="queue_size" type="int" value="30"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="SURF/HessianThreshold" type="string" value="600"/>
<param name="LccBow/MaxDepth" type="string" value="0"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.05"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<!-- Uncomment to force 3dof loop closure constraint using -->
<!-- the 2d scans (set ScanMatchingSize=1 to correct odometry with laser) -->
<!--
@@ -66,20 +66,20 @@
-->
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="queue_size" type="int" value="30"/>
<remap from="rgb/image" to="/wide_stereo/left/image_rect"/>
<remap from="rgb/camera_info" to="/wide_stereo/left/camera_info"/>
<remap from="depth/image" to="/wide_stereo/depth"/>
<remap from="scan" to="/base_scan"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
</group>
</launch>