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rtabmap.launch: added scan_cloud_assembling option

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matlabbe
2020-04-19 09:53:09 -04:00
parent 9aa3854f8b
commit dff012718e
2 changed files with 29 additions and 2 deletions
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src/nodelets/point_cloud_assembler.cpp
+11
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@@ -116,6 +116,17 @@ private:
pnh.param("subscribe_odom_info", subscribeOdomInfo, subscribeOdomInfo);
ROS_ASSERT(maxClouds_>0 || assemblingTime_ >0.0);
ROS_INFO("%s: queue_size=%d", getName().c_str(), queueSize);
ROS_INFO("%s: fixed_frame_id=%s", getName().c_str(), fixedFrameId_.c_str());
ROS_INFO("%s: max_clouds=%d", getName().c_str(), maxClouds_);
ROS_INFO("%s: assembling_time=%fs", getName().c_str(), assemblingTime_);
ROS_INFO("%s: skip_clouds=%d", getName().c_str(), skipClouds_);
ROS_INFO("%s: circular_buffer=%s", getName().c_str(), circularBuffer_?"true":"false");
ROS_INFO("%s: wait_for_transform_duration=%f", getName().c_str(), waitForTransformDuration_);
ROS_INFO("%s: range_min=%f", getName().c_str(), rangeMin_);
ROS_INFO("%s: range_max=%f", getName().c_str(), rangeMax_);
ROS_INFO("%s: voxel_size=%fm", getName().c_str(), voxelSize_);
cloudsSkipped_ = skipClouds_;
std::string subscribedTopicsMsg;