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added test_map_optimizer.launch

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matlabbe
2016-08-02 11:32:18 -04:00
parent e5eba34d20
commit f50ffcd979
1 changed files with 19 additions and 0 deletions
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launch/tests/test_map_optimizer.launch
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<launch>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="
--delete_db_on_start
--RGBD/OptimizeMaxError 0
--Optimizer/Iterations 0
--RGBD/ProximityBySpace false"/>
<arg name="rtabmapviz" value="false"/>
</include>
<group ns="rtabmap">
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
<remap from="mapData" to="mapData_optimized"/>
<param name="subscribe_depth" value="false"/>
</node>
</group>
</launch>