mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-11 12:09:51 +08:00
remove trailing whitespace from launch files
This commit is contained in:
Lucas Walter
@@ -1,8 +1,8 @@
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<?xml version="1.0"?>
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<!-- -->
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<launch>
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<!--
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<!--
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Hand-held 3D lidar mapping example using a Velodyne PUCK, an external IMU and color camera (using D435i as example).
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Prerequisities: rtabmap should be built with libpointmatcher
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We use D435i imu only for lidar deskewing and icp_odometry guess in this example.
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@@ -28,30 +28,30 @@
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<arg name="resolution" default="0.05"/> <!-- set 0.05-0.3 for indoor, set 0.3-0.5 for outdoor -->
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<arg name="iterations" default="10"/>
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<!-- Grid parameters -->
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<arg name="ground_is_obstacle" default="true"/>
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<arg name="grid_max_range" default="20"/>
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<!-- For F2M Odometry -->
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<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (ground robot, car) -->
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<arg name="local_map_size" default="15000"/>
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<arg name="key_frame_thr" default="0.6"/>
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<!-- For FLOAM Odometry -->
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<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
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<arg name="floam_sensor" default="0"/> <!-- 0=16 rings (VLP16), 1=32 rings, 2=64 rings -->
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<!-- Static transform between velodyne and D435i: TODO: Adjust with real position/orientation!!! -->
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<node unless="$(arg use_sim_time)" pkg="tf" type="static_transform_publisher" name="velodyne_to_camera_tf" args="0.03 0.064 -0.055 0 -0.02 0 velodyne camera_link 100"/>
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<!-- Velodyne sensor VLP16 -->
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<include unless="$(arg use_sim_time)" file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
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<arg if="$(arg scan_20_hz)" name="rpm" value="1200"/>
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<arg unless="$(arg scan_20_hz)" name="rpm" value="600"/>
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<arg name="organize_cloud" value="true"/> <!-- should be organized for deskewing -->
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</include>
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<!-- D435i -->
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<group unless="$(arg use_sim_time)">
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<include file="$(find realsense2_camera)/launch/rs_camera.launch">
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@@ -60,7 +60,7 @@
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<arg name="enable_accel" value="true"/>
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</include>
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</group>
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<!-- IMU orientation estimation and publish tf accordingly to os_sensor frame -->
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<node pkg="nodelet" type="nodelet" name="imu_nodelet_manager" args="manager">
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<remap from="imu/data_raw" to="$(arg imu_topic)"/>
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@@ -75,8 +75,8 @@
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<remap from="imu/data" to="$(arg imu_topic)/filtered"/>
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<param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
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<param name="base_frame_id" value="$(arg frame_id)"/>
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</node>
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</node>
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<!-- Lidar Deskewing -->
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<node if="$(arg deskewing)" pkg="nodelet" type="nodelet" name="lidar_deskewing" args="standalone rtabmap_ros/lidar_deskewing" output="screen">
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<param name="wait_for_transform" value="0.01"/>
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@@ -100,7 +100,7 @@
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<param name="wait_for_transform_duration" type="double" value="0.2"/>
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<param if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
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<param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>
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<!-- ICP parameters -->
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<param name="Icp/PointToPlane" type="string" value="true"/>
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<param name="Icp/Iterations" type="string" value="$(arg iterations)"/>
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@@ -113,39 +113,39 @@
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<param name="Icp/PointToPlaneRadius" type="string" value="0"/>
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<param name="Icp/MaxTranslation" type="string" value="2"/>
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<param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*10)"/>
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<param name="Icp/PM" type="string" value="true"/>
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<param name="Icp/PM" type="string" value="true"/>
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<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
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<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
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<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
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<param if="$(arg ground_normals_up)" name="Icp/PointToPlaneGroundNormalsUp" type="string" value="0.8"/>
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<!-- Odom parameters -->
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<!-- Odom parameters -->
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<param name="Odom/ScanKeyFrameThr" type="string" value="$(arg key_frame_thr)"/>
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<param if="$(arg floam)" name="Odom/Strategy" type="string" value="11"/>
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<param unless="$(arg floam)" name="Odom/Strategy" type="string" value="0"/>
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<param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg resolution)"/>
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<param name="OdomF2M/ScanMaxSize" type="string" value="$(arg local_map_size)"/>
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<param name="OdomLOAM/Sensor" type="string" value="$(arg floam_sensor)"/>
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<param name="OdomLOAM/Sensor" type="string" value="$(arg floam_sensor)"/>
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<param name="OdomLOAM/Resolution" type="string" value="$(arg resolution)"/>
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<param if="$(eval not deskewing and scan_20_hz)" name="OdomLOAM/ScanPeriod" type="string" value="0.05"/>
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<param if="$(eval not deskewing and not scan_20_hz)" name="OdomLOAM/ScanPeriod" type="string" value="0.1"/>
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<param if="$(arg deskewing)" name="OdomLOAM/ScanPeriod" type="string" value="0"/>
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</node>
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<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<param name="subscribe_depth" type="bool" value="false"/>
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<param name="subscribe_rgb" type="bool" value="true"/>
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<param name="subscribe_scan_cloud" type="bool" value="true"/>
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<param name="approx_sync" type="bool" value="true"/>
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<param name="wait_for_transform_duration" type="double" value="0.2"/>
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<remap from="scan_cloud" to="assembled_cloud"/>
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<remap from="rgb/image" to="/camera/color/image_raw"/>
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<remap from="rgb/camera_info" to="/camera/color/camera_info"/>
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<remap from="imu" to="$(arg imu_topic)/filtered"/>
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<!-- RTAB-Map's parameters -->
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="Rtabmap/DetectionRate" type="string" value="1"/>
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<param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
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<param name="RGBD/ProximityBySpace" type="string" value="true"/>
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<param name="RGBD/ProximityMaxGraphDepth" type="string" value="0"/>
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@@ -155,8 +155,8 @@
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<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
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<param name="Mem/STMSize" type="string" value="30"/>
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<param name="Mem/LaserScanNormalK" type="string" value="20"/>
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<param name="Reg/Strategy" type="string" value="1"/>
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<param name="Reg/Strategy" type="string" value="1"/>
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<param name="Grid/CellSize" type="string" value="$(arg resolution)"/>
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<param name="Grid/RangeMax" type="string" value="$(arg grid_max_range)"/>
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<param name="Grid/ClusterRadius" type="string" value="1"/>
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@@ -172,7 +172,7 @@
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<param name="Icp/Epsilon" type="string" value="0.001"/>
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<param name="Icp/MaxTranslation" type="string" value="3"/>
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<param name="Icp/MaxCorrespondenceDistance" type="string" value="$(eval resolution*10)"/>
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<param name="Icp/PM" type="string" value="true"/>
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<param name="Icp/PM" type="string" value="true"/>
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<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
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<param name="Icp/CorrespondenceRatio" type="string" value="$(arg loop_ratio)"/>
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</node>
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