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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/tests/rgbdslam_datasets.launch
+21 -21
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<!-- Example to run rgbd datasets:
$ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
$ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag
@@ -11,28 +11,28 @@
$ roslaunch rtabmap_ros rgbdslam_datasets.launch
$ rosbag play -.-clock rgbd_dataset_freiburg3_long_office_household.bag
-->
<param name="use_sim_time" type="bool" value="True"/>
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="rtabmapviz" default="false" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="world_to_map"
<node pkg="tf" type="static_transform_publisher" name="world_to_map"
args="0.0 0.0 0.0 0.0 0.0 0.0 /world /map 100" />
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame -->
<param name="Odom/ResetCountdown" type="string" value="15"/>
<param name="Odom/ResetCountdown" type="string" value="15"/>
<param name="Odom/GuessSmoothingDelay" type="string" value="0"/>
<param name="frame_id" type="string" value="kinect"/>
@@ -41,12 +41,12 @@
<param name="ground_truth_frame_id" type="string" value="world"/>
<param name="ground_truth_base_frame_id" type="string" value="kinect_gt"/>
</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="subscribe_depth" type="bool" value="true"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="false"/>
<param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/>
@@ -54,38 +54,38 @@
<param name="RGBD/AngularUpdate" type="string" value="0"/>
<param name="frame_id" type="string" value="kinect"/>
<param name="ground_truth_frame_id" type="string" value="world"/>
<param name="ground_truth_frame_id" type="string" value="world"/>
<param name="ground_truth_base_frame_id" type="string" value="kinect_gt"/>
<remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="queue_size" type="int" value="10"/>
</node>
<!-- Visualisation -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="queue_size" type="int" value="30"/>
<param name="frame_id" type="string" value="kinect"/>
<remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node>
</group>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbdslam_datasets.rviz"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="decimation" type="double" value="4"/>
</node>