i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated ros-pkg for RTAB-Map 0.8.0

Browse Source 
Moved all nodelets and rviz plugins in "rtabmap_ros" namespace instead of "rtabmap"
Refactored rtabmap_ros messages (added convenient conversion methods in rtabmap_ros/MsgConversion.h)
Added noise filtering parameters for map_assembler node
Added variance parameter for map_optimizer node
Odometry nodes publish covariance matrices in odometry messages. Publish rtambap_ros::OdomInfo topic too.
This commit is contained in:
Mathieu Labbe
2014-12-14 16:44:13 -05:00
parent c91586ea57
commit dfe5cff0c0
74 changed files with 915 additions and 1088 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/demo/demo_appearance_mapping.launch
+4 -4
View File
@@ -23,15 +23,15 @@
<param name="Mem/IncrementalMemory" type="string" value="true"/> <!-- true = SLAM mode -->
<param name="Mem/RehearsalIdUpdatedToNewOne" type="string" value="true"/> <!-- On merging, update to new ID-->
<param name="Mem/BadSignaturesIgnored" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<param name="Kp/DetectorStrategy" type="string" value="2"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="3"/> <!-- kdTree -->
</node>
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen" args="-d $(find rtabmap_ros)/launch/config/appearance_gui.ini">
<!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<!-- This enables the GUI to pause a rtabmap_ros/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap_ros/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<param name="camera_node_name" type="string" value="/camera"/>
</node>