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rtabmap.launch: added gen_scan option for convenience

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matlabbe
2021-01-12 11:55:01 -05:00
parent ea2f14a661
commit d21b03ae7a
1 changed files with 2 additions and 0 deletions
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launch/rtabmap.launch
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@@ -88,6 +88,7 @@
<arg name="scan_descriptor_topic" default="/scan_descriptor"/>
<arg name="scan_cloud_max_points" default="0"/>
<arg name="scan_cloud_filtered" default="false"/> <!-- use filtered cloud from icp_odometry for mapping -->
<arg name="gen_scan" default="false"/> <!-- only works with depth image and if not subscribing to scan topic-->
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="icp_odometry" default="false"/> <!-- Launch rtabmap icp odometry node -->
@@ -308,6 +309,7 @@
<param name="map_frame_id" type="string" value="$(arg map_frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf_map)"/>
<param name="gen_scan" type="bool" value="$(arg gen_scan)"/>
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
<param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/>