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Updated demo_robot_mapping.launch with 0.11

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matlabbe
2016-02-19 15:12:13 -05:00
parent caaf81731e
commit d25c77ebba
1 changed files with 11 additions and 9 deletions
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launch/demo/demo_robot_mapping.launch
+11 -9
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@@ -19,7 +19,7 @@
<param name="wait_for_transform" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/az3/base_controller/odom"/>
<remap from="scan" to="/jn0/base_scan"/>
@@ -32,19 +32,21 @@
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/PoseScanMatching" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/ProximityByTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
</node>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="Optimizer/Slam2D" type="string" value="true"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="wait_for_transform" type="bool" value="true"/>