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Added localization arg to rtabmap.launch for convenience

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matlabbe
2016-06-02 14:21:07 -04:00
parent a8c3cdc70c
commit db0fae6b18
1 changed files with 8 additions and 0 deletions
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launch/rtabmap.launch
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@@ -22,6 +22,9 @@
<arg name="rtabmapviz" default="true" /> <arg name="rtabmapviz" default="true" />
<arg name="rviz" default="false" /> <arg name="rviz" default="false" />
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<!-- Corresponding config files --> <!-- Corresponding config files -->
<arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app --> <arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" /> <arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
@@ -138,6 +141,11 @@
<remap from="scan" to="$(arg scan_topic)"/> <remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/> <remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/> <remap unless="$(arg visual_odometry)" from="odom" to="$(arg odom_topic)"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node> </node>
<!-- Visualisation RTAB-Map --> <!-- Visualisation RTAB-Map -->