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data_reocrder.launch: added stereo_approx_sync argument and desactivated LocalLoopClosureSpace

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matlabbe
2015-10-28 18:49:28 -04:00
parent fc9c3aa162
commit d502991d80
1 changed files with 3 additions and 0 deletions
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launch/data_recorder.launch
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@@ -5,6 +5,7 @@
<arg name="subscribe_depth" default="true"/>
<arg name="subscribe_stereo" default="false"/>
<arg name="subscribe_laserScan" default="false"/>
<arg name="stereo_approx_sync" default="false"/>
<arg name="frame_id" default="camera_link"/>
<arg name="odom_frame_id" default=""/> <!-- use topic when not set, otherwise use TF if set -->
@@ -37,6 +38,7 @@
<param name="Rtabmap/MemoryThr" type="string" value="1"/> <!-- keep the WM empty -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- STM=1 -->
<param name="publish_tf" type="bool" value="false"/> <!-- don't publish TF -->
<param name="RGBD/LocalLoopDetectionSpace" type="bool" value="false"/>
<param unless="$(arg subscribe_odometry)" name="RGBD/Enabled" type="string" value="false"/>
<param name="Rtabmap/DetectionRate" type="string" value="$(arg max_rate)"/>
@@ -47,6 +49,7 @@
<param name="subscribe_laserScan" type="bool" value="$(arg subscribe_laserScan)"/>
<param name="subscribe_stereo" type="bool" value="$(arg subscribe_stereo)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="stereo_approx_sync" type="bool" value="$(arg stereo_approx_sync)"/>
<!-- Hack to use a fake odom_frame_id=frame_id if subscribe_odometry = false -->
<param if="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>