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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/test_icp_odometry.launch
+26 -26
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@@ -3,17 +3,17 @@
<launch>
<!-- We test here ICP odometry using a guess from visual odometry -->
<arg name="rgbd" default="false"/>
<arg name="pm" default="false"/>
<arg name="nodelet" default="false"/>
<include file="$(find freenect_launch)/launch/freenect.launch" >
<arg name="depth_registration" value="true"/>
<arg name="data_skip" value="3"/>
</include>
<group ns="camera">
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="points_xyz" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="depth/camera_info" to="depth_registered/camera_info"/>
@@ -21,7 +21,7 @@
<param name="voxel_size" type="double" value="0.05"/>
<param name="decimation" type="int" value="8"/>
<param name="Odom/AlignWithGround" type="string" value="true"/>
</node>
@@ -31,11 +31,11 @@
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="rgb/image" to="rgb/image_rect_mono"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_normal_k" type="int" value="10"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Icp/PM" type="string" value="$(arg pm)"/>
@@ -43,10 +43,10 @@
</node>
<node unless="$(arg rgbd)" pkg="nodelet" type="nodelet" name="icp_odometry" args="load rtabmap_ros/icp_odometry camera_nodelet_manager" output="screen">
<remap from="scan_cloud" to="/voxel_cloud"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_normal_k" type="int" value="10"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_normal_k" type="int" value="10"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Icp/PM" type="string" value="$(arg pm)"/>
@@ -55,18 +55,18 @@
<param name="Odom/ResetCountdown" type="string" value="1"/>
</node>
</group>
<group unless="$(arg nodelet)">
<node if="$(arg rgbd)" pkg="rtabmap_ros" type="rgbdicp_odometry" name="rgbdicp_odometry" output="screen">
<remap from="scan_cloud" to="/voxel_cloud"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="rgb/image" to="rgb/image_rect_mono"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_normal_k" type="int" value="10"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Icp/PM" type="string" value="$(arg pm)"/>
@@ -74,10 +74,10 @@
</node>
<node unless="$(arg rgbd)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
<remap from="scan_cloud" to="/voxel_cloud"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_normal_k" type="int" value="10"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="scan_normal_k" type="int" value="10"/>
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/VoxelSize" type="string" value="0"/>
<param name="Icp/PM" type="string" value="$(arg pm)"/>
@@ -88,12 +88,12 @@
</group>
</group>
<!-- We just use odometry without rtabmap node, so set a static /map->/odom
<!-- We just use odometry without rtabmap node, so set a static /map->/odom
transform so that rviz config below works out-of-the-box -->
<node pkg="tf" type="static_transform_publisher" name="map_odom"
args="0 0 0 0 0 0 map odom 100" />
args="0 0 0 0 0 0 map odom 100" />
<!-- Visualization RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
</launch>