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Fixed rtabmap node not initializing when use_sim_time is true and no clock is yet published

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matlabbe
2018-10-02 18:06:46 -04:00
parent 786c481677
commit d0c5951b33
3 changed files with 26 additions and 14 deletions
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launch/demo/demo_turtlebot_mapping.launch
+9 -3
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@@ -64,13 +64,21 @@
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="map_negative_poses_ignored" type="bool" value="true"/>
<!-- When sending goals on /rtabmap/goal topic, use actionlib to communicate with move_base -->
<param name="use_action_for_goal" type="bool" value="true"/>
<remap from="move_base" to="/move_base"/>
<!-- inputs -->
<remap from="scan" to="/scan"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap unless="$(arg rgbd_odometry)" from="odom" to="/odom"/>
<!-- Fix odom covariance as in simulation the covariance in /odom topic is high (0.1 for linear and 0.05 for angular) -->
<param unless="$(arg rgbd_odometry)" name="odom_frame_id" value="odom"/>
<param unless="$(arg rgbd_odometry)" name="odom_tf_linear_variance" value="0.001"/>
<param unless="$(arg rgbd_odometry)" name="odom_tf_angular_variance" value="0.001"/>
<!-- output -->
<remap from="grid_map" to="/map"/>
@@ -88,10 +96,8 @@
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.30"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="GridGlobal/MinSize" type="string" value="20"/>
<param name="RGBD/OptimizeMaxError" type="string" value="0.1"/>
<!-- localization mode -->