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ros-pkg: updated demo_robot_localization.launch file

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2055 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-11-20 16:48:53 +00:00
parent 5b41c2add5
commit e8fad643e3
1 changed files with 4 additions and 1 deletions
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launch/demo/demo_robot_localization.launch
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@@ -33,9 +33,12 @@
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="Mem/InitWMWithAllNodes" type="string" value="true"/> <!-- Load the full global map in RAM -->
<param name="RGBD/PoseScanMatching" type="string" value="true"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccIcp2/MaxFitness" type="string" value="10"/>
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
</node>