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Updated test_velodyne.launch with FLOAM option

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matlabbe
2021-09-22 10:52:09 -04:00
parent f1bc942f54
commit e8edafb8ff
1 changed files with 13 additions and 5 deletions
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launch/tests/test_velodyne.launch
+13 -5
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@@ -20,6 +20,10 @@
<arg name="frame_id" default="velodyne"/> <arg name="frame_id" default="velodyne"/>
<arg name="resolution" default="0.1"/> <!-- set 0.1-0.3 for indoor, set 0.3-0.5 for outdoor -->
<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch"> <include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
<arg if="$(arg scan_20_hz)" name="rpm" value="1200"/> <arg if="$(arg scan_20_hz)" name="rpm" value="1200"/>
<arg unless="$(arg scan_20_hz)" name="rpm" value="600"/> <arg unless="$(arg scan_20_hz)" name="rpm" value="600"/>
@@ -48,7 +52,8 @@
<!-- ICP parameters --> <!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="true"/> <param name="Icp/PointToPlane" type="string" value="true"/>
<param name="Icp/Iterations" type="string" value="10"/> <param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/VoxelSize" type="string" value="0.2"/> <param if="$(arg floam)" name="Icp/VoxelSize" type="string" value="0"/>
<param unless="$(arg floam)" name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
<param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar --> <param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
<param name="Icp/Epsilon" type="string" value="0.001"/> <param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/> <param name="Icp/PointToPlaneK" type="string" value="20"/>
@@ -61,9 +66,12 @@
<!-- Odom parameters --> <!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/> <param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
<param name="Odom/Strategy" type="string" value="0"/> <param if="$(arg floam)" name="Odom/Strategy" type="string" value="11"/>
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/> <param unless="$(arg floam)" name="Odom/Strategy" type="string" value="0"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/> <param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg resolution)"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
<param name="OdomLOAM/Sensor" type="string" value="0"/> <!-- select VLP16 format -->
<param name="OdomLOAM/Resolution" type="string" value="$(arg resolution)"/>
</node> </node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d"> <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
@@ -98,7 +106,7 @@
<param name="Optimizer/GravitySigma" type="string" value="0.3"/> <param name="Optimizer/GravitySigma" type="string" value="0.3"/>
<!-- ICP parameters --> <!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="0.2"/> <param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
<param name="Icp/PointToPlaneK" type="string" value="20"/> <param name="Icp/PointToPlaneK" type="string" value="20"/>
<param name="Icp/PointToPlaneRadius" type="string" value="0"/> <param name="Icp/PointToPlaneRadius" type="string" value="0"/>
<param name="Icp/PointToPlane" type="string" value="true"/> <param name="Icp/PointToPlane" type="string" value="true"/>