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demo_husky.launch: fixed icp_odometry subscribing to both 2d and 3d lidars (choosing always 2d)

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matlabbe
2021-07-14 12:09:18 -04:00
parent 11d5b38afe
commit df60bc78d5
1 changed files with 4 additions and 2 deletions
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launch/demo/demo_husky.launch
+4 -2
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@@ -82,11 +82,13 @@
<!-- 2D LiDAR --> <!-- 2D LiDAR -->
<arg name="subscribe_scan" value="$(arg lidar2d)" /> <arg name="subscribe_scan" value="$(arg lidar2d)" />
<arg name="scan_topic" value="/scan" /> <arg if="$(arg lidar2d)" name="scan_topic" value="/scan" />
<arg unless="$(arg lidar2d)" name="scan_topic" value="/scan_not_used" />
<!-- 3D LiDAR --> <!-- 3D LiDAR -->
<arg name="subscribe_scan_cloud" value="$(arg lidar3d)" /> <arg name="subscribe_scan_cloud" value="$(arg lidar3d)" />
<arg name="scan_cloud_topic" value="/velodyne_points" /> <arg if="$(arg lidar3d)" name="scan_cloud_topic" value="/velodyne_points" />
<arg unless="$(arg lidar3d)" name="scan_cloud_topic" value="/scan_cloud_not_used" />
<!-- If camera is used --> <!-- If camera is used -->
<arg name="depth" value="$(eval camera and not depth_from_lidar)" /> <arg name="depth" value="$(eval camera and not depth_from_lidar)" />