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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/sensor_fusion.launch
+14 -14
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@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<launch>
<launch>
<!-- This launch assumes that you have already
<!-- This launch assumes that you have already
started you preferred RGB-D sensor and your IMU.
TF between frame_id and the sensors should already be set too. -->
<arg name="frame_id" default="base_link" />
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
@@ -16,8 +16,8 @@
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="rtabmap_args" default=""/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
<group ns="rtabmap">
<!-- Visual Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen" args="$(arg rtabmap_args)">
@@ -33,26 +33,26 @@
<param name="Odom/FillInfoData" type="string" value="true"/>
<param name="Odom/ResetCountdown" type="string" value="1"/>
<param name="Vis/FeatureType" type="string" value="6"/>
<param name="Vis/FeatureType" type="string" value="6"/>
<param name="OdomF2M/MaxSize" type="string" value="1000"/>
</node>
<!-- SLAM -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="odom" to="/odometry/filtered"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/> <!-- use same features as odom -->
<!-- localization mode -->
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
</node>
</group>
@@ -70,7 +70,7 @@
<param name="transform_time_offset" value="0.0"/>
<param name="odom0" value="/vo"/>
<param name="imu0" value="$(arg imu_topic)"/>
<param name="imu0" value="$(arg imu_topic)"/>
<!-- The order of the values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. -->
<rosparam param="odom0_config">[true, true, true,
@@ -90,8 +90,8 @@
true, true, true,
false, false, false,
true, true, true,
true, true, true] </rosparam>
true, true, true] </rosparam>
<param name="odom0_differential" value="false"/>
<param name="imu0_differential" value="false"/>
@@ -104,7 +104,7 @@
<!-- ======== ADVANCED PARAMETERS ======== -->
<param name="odom0_queue_size" value="5"/>
<param name="imu0_queue_size" value="50"/>
<param name="imu0_queue_size" value="50"/>
<!-- The values are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz,
vroll, vpitch, vyaw, ax, ay, az. -->