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Updated demo_turtlebot_mapping.launch with min 30% icp ratio

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matlabbe
2015-08-14 15:39:56 -04:00
parent 0dd1d5721b
commit dc40d9f7f1
1 changed files with 1 additions and 1 deletions
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launch/demo/demo_turtlebot_mapping.launch
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@@ -59,7 +59,7 @@
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
<param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.05"/>
<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.3"/>
<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="RGBD/AngularUpdate" type="string" value="0.1"/> <!-- Update map only if the robot is moving -->