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Added "odom_tf_angular_variance" and "odom_tf_linear_variance" parameters for rtabmap node when TF is used for odometry

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matlabbe
2017-02-08 15:16:29 -05:00
parent 938bb985f3
commit d5144f292f
3 changed files with 29 additions and 8 deletions
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include/rtabmap_ros/CoreWrapper.h
+2
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@@ -186,6 +186,8 @@ private:
std::string groundTruthBaseFrameId_;
std::string configPath_;
std::string databasePath_;
float odomDefaultAngVariance_;
float odomDefaultLinVariance_;
bool waitForTransform_;
double waitForTransformDuration_;
bool useActionForGoal_;