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Update test_ouster.launch

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matlabbe
2021-02-07 18:10:26 -05:00
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parent 962ef3b312
commit e7567cc3b9
1 changed files with 2 additions and 0 deletions
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launch/tests/test_ouster.launch
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@@ -87,6 +87,7 @@
<param name="approx_sync" type="bool" value="false"/>
<remap from="scan_cloud" to="/os1_cloud_node/points"/>
<remap from="imu" to="/os1_cloud_node/imu/data"/>
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -107,6 +108,7 @@
<param name="Grid/RangeMax" type="string" value="20"/>
<param name="Grid/ClusterRadius" type="string" value="1"/>
<param name="Grid/GroundIsObstacle" type="string" value="true"/>
<param name="Optimizer/GravitySigma" type="string" value="0.3"/>
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.3"/>