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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_ouster.launch
+20 -20
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@@ -1,15 +1,15 @@
<?xml version="1.0"?>
<launch>
<!--
<!--
Hand-held 3D lidar mapping example using only a Ouster OS-1 (no camera).
Prerequisities: rtabmap should be built with libpointmatcher
Example:
$ roslaunch rtabmap_ros test_ouster.launch os1_hostname:=os1-XXXXXXXXXXXX.local os1_udp_dest:=192.168.1.XXX
$ rosrun rviz rviz -f map
$ Show TF and /rtabmap/cloud_map topics
ISSUE: You may have to reset odometry after receiving the first cloud if the map looks tilted. The problem seems
ISSUE: You may have to reset odometry after receiving the first cloud if the map looks tilted. The problem seems
coming from the first cloud sent by os1_cloud_node, which may be poorly synchronized with IMU data.
-->
@@ -23,7 +23,7 @@
<arg name="rtabmapviz" default="true"/>
<arg name="scan_20_hz" default="true"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
<!-- Ouster -->
<remap unless="$(arg use_sim_time)" from="/os1_cloud_node/imu" to="/os1_cloud_node/imu/data_raw"/>
<include unless="$(arg use_sim_time)" file="$(find ouster_ros)/os1.launch">
@@ -41,17 +41,17 @@
<param name="use_mag" value="false"/>
<param name="world_frame" value="enu"/>
<param name="publish_tf" value="false"/>
</node>
</node>
<node pkg="nodelet" type="nodelet" name="imu_to_tf" args="load rtabmap_ros/imu_to_tf imu_nodelet_manager">
<remap from="imu/data" to="/os1_cloud_node/imu/data"/>
<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
<param name="base_frame_id" value="$(arg frame_id)"/>
</node>
</node>
<group ns="rtabmap">
<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
<remap from="scan_cloud" to="/os1_cloud_node/points"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
@@ -59,7 +59,7 @@
<remap from="imu" to="/os1_cloud_node/imu/data"/>
<param name="guess_frame_id" type="string" value="$(arg frame_id)_stabilized"/>
<param name="wait_imu_to_init" type="bool" value="true"/>
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/>
@@ -70,29 +70,29 @@
<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/MaxTranslation" type="string" value="2"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.1"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<!-- Odom parameters -->
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.95"/>
<param name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
</node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgb" type="bool" value="false"/>
<param name="subscribe_scan_cloud" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<remap from="scan_cloud" to="/os1_cloud_node/points"/>
<remap from="imu" to="/os1_cloud_node/imu/data"/>
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/>
@@ -104,8 +104,8 @@
<!-- param name="Mem/LaserScanVoxelSize" type="string" value="0.1"/ -->
<!-- param name="Mem/LaserScanNormalK" type="string" value="10"/ -->
<!-- param name="Mem/LaserScanRadius" type="string" value="0"/ -->
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Grid/CellSize" type="string" value="0.1"/>
<param name="Grid/RangeMax" type="string" value="20"/>
<param name="Grid/ClusterRadius" type="string" value="1"/>
@@ -121,7 +121,7 @@
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/MaxTranslation" type="string" value="3"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.4"/>
</node>