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demo_isaac: fixed subscribe_depth not existing, adjusted tag variance, removed localization too specific parameters

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matlabbe
2022-02-12 13:38:20 -05:00
parent 096d8731b4
commit e51962d82f
1 changed files with 4 additions and 4 deletions
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launch/demo/demo_isaac_carter_navigation.launch
+4 -4
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@@ -41,12 +41,12 @@
<!-- RTAB-Map --> <!-- RTAB-Map -->
<remap from="/rtabmap/grid_map" to="/map"/> <remap from="/rtabmap/grid_map" to="/map"/>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch"> <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d) --Kp/MaxFeatures -1 --RGBD/ProximityBySpace false --Rtabmap/DetectionRate 3"/> <arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
<arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/> <arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
<arg name="localization" value="$(arg localization)"/> <arg name="localization" value="$(arg localization)"/>
<arg if="$(arg lidar3d)" name="subscribe_scan_cloud" value="true"/> <arg if="$(arg lidar3d)" name="subscribe_scan_cloud" value="true"/>
<arg unless="$(arg lidar3d)" name="subscribe_scan" value="true"/> <arg unless="$(arg lidar3d)" name="subscribe_scan" value="true"/>
<arg name="subscribe_depth" value="$(arg camera)"/> <arg name="depth" value="$(arg camera)"/>
<arg name="subscribe_rgb" value="$(arg camera)"/> <arg name="subscribe_rgb" value="$(arg camera)"/>
<arg name="visual_odometry" value="false"/> <arg name="visual_odometry" value="false"/>
<arg name="odom_topic" value="/odom"/> <arg name="odom_topic" value="/odom"/>
@@ -59,8 +59,8 @@
<arg name="rgbd_sync" value="true"/> <arg name="rgbd_sync" value="true"/>
<arg name="approx_rgbd_sync" value="false"/> <arg name="approx_rgbd_sync" value="false"/>
<arg name="use_sim_time" value="true"/> <arg name="use_sim_time" value="true"/>
<arg name="tag_linear_variance" value="0.01"/> <arg name="tag_linear_variance" value="0.1"/>
<arg name="tag_angular_variance" value="1"/> <arg name="tag_angular_variance" value="0.2"/>
<arg name="scan_cloud_assembling" value="$(arg lidar3d)"/> <arg name="scan_cloud_assembling" value="$(arg lidar3d)"/>