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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_turtlebot_mapping.launch
+28 -28
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@@ -1,32 +1,32 @@
<?xml version="1.0"?>
<launch>
<!--
<!--
Bringup Turtlebot:
$ roslaunch turtlebot_bringup minimal.launch
Mapping:
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch
Visualization:
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
This launch file is a one to one replacement of the gmapping_demo.launch in the
This launch file is a one to one replacement of the gmapping_demo.launch in the
"SLAM Map Building with TurtleBot" tutorial:
http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM
For localization-only after a mapping session, add argument "localization:=true" to
demo_turtlebot_mapping.launch line above. Move the robot around until it can relocalize in
the previous map, then the 2D map should re-appear again. You can then follow the same steps
demo_turtlebot_mapping.launch line above. Move the robot around until it can relocalize in
the previous map, then the 2D map should re-appear again. You can then follow the same steps
from 3.3.2 of the "Autonomous Navigation of a Known Map with TurtleBot" tutorial:
http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
For turtlebot in simulation (Gazebo):
$ roslaunch turtlebot_gazebo turtlebot_world.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
-->
<arg name="database_path" default="rtabmap.db"/>
<arg name="rgbd_odometry" default="false"/>
<arg name="rtabmapviz" default="false"/>
@@ -41,20 +41,20 @@
<arg if="$(arg simulation)" name="depth_topic" default="/camera/depth/image_raw"/>
<arg unless="$(arg simulation)" name="depth_topic" default="/camera/depth_registered/image_raw"/>
<arg name="camera_info_topic" default="/camera/rgb/camera_info"/>
<arg name="wait_for_transform" default="0.2"/>
<!--
robot_state_publisher's publishing frequency in "turtlebot_bringup/launch/includes/robot.launch.xml"
<arg name="wait_for_transform" default="0.2"/>
<!--
robot_state_publisher's publishing frequency in "turtlebot_bringup/launch/includes/robot.launch.xml"
can be increase from 5 to 10 Hz to avoid some TF warnings.
-->
<!-- Navigation stuff (move_base) -->
<include unless="$(arg simulation)" file="$(find turtlebot_bringup)/launch/3dsensor.launch">
<arg if="$(arg sw_registered)" name="depth_registration" value="false"/>
<arg unless="$(arg sw_registered)" name="depth_registration" value="true"/>
</include>
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
<!-- Mapping -->
<group ns="rtabmap">
@@ -66,10 +66,10 @@
<param name="subscribe_scan" type="bool" value="true"/>
<param name="map_negative_poses_ignored" type="bool" value="true"/>
<!-- When sending goals on /rtabmap/goal topic, use actionlib to communicate with move_base -->
<!-- When sending goals on /rtabmap/goal topic, use actionlib to communicate with move_base -->
<param name="use_action_for_goal" type="bool" value="true"/>
<remap from="move_base" to="/move_base"/>
<!-- inputs -->
<remap from="scan" to="/scan"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
@@ -80,10 +80,10 @@
<param unless="$(arg rgbd_odometry)" name="odom_frame_id" value="odom"/>
<param unless="$(arg rgbd_odometry)" name="odom_tf_linear_variance" value="0.001"/>
<param unless="$(arg rgbd_odometry)" name="odom_tf_angular_variance" value="0.001"/>
<!-- output -->
<remap from="grid_map" to="/map"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
@@ -94,43 +94,43 @@
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="Rtabmap/TimeThr" type="string" value="0"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="GridGlobal/MinSize" type="string" value="20"/>
<!-- localization mode -->
<param if="$(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="$(arg localization)"/>
</node>
<!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. -->
<node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/InlierDistance" type="string" value="0.05"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- visualization with rtabmapviz -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="scan" to="/scan"/>
</node>
</group>
</launch>