i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-06 01:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

OdomInfo msg: changed type of localScanMap (to fix long compression issue). Updated test_velodyne.launch to make floam working with kitti bags

Browse Source
This commit is contained in:
matlabbe
2021-09-24 11:34:23 -04:00
parent e8edafb8ff
commit fd0eb4f62c
6 changed files with 64 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/nodelets/icp_odometry.cpp
+5 -2
View File
@@ -86,6 +86,8 @@ private:
ros::NodeHandle & nh = getNodeHandle();
ros::NodeHandle & pnh = getPrivateNodeHandle();
int queueSize = 1;
pnh.param("queue_size", queueSize, queueSize);
pnh.param("scan_cloud_max_points", scanCloudMaxPoints_, scanCloudMaxPoints_);
pnh.param("scan_downsampling_step", scanDownsamplingStep_, scanDownsamplingStep_);
pnh.param("scan_range_min", scanRangeMin_, scanRangeMin_);
@@ -131,6 +133,7 @@ private:
pnh.param("scan_cloud_normal_k", scanNormalK_, scanNormalK_);
}
NODELET_INFO("IcpOdometry: queue_size = %d", queueSize);
NODELET_INFO("IcpOdometry: scan_cloud_max_points = %d", scanCloudMaxPoints_);
NODELET_INFO("IcpOdometry: scan_downsampling_step = %d", scanDownsamplingStep_);
NODELET_INFO("IcpOdometry: scan_range_min = %f m", scanRangeMin_);
@@ -140,8 +143,8 @@ private:
NODELET_INFO("IcpOdometry: scan_normal_radius = %f m", scanNormalRadius_);
NODELET_INFO("IcpOdometry: scan_normal_ground_up = %f", scanNormalGroundUp_);
scan_sub_ = nh.subscribe("scan", 1, &ICPOdometry::callbackScan, this);
cloud_sub_ = nh.subscribe("scan_cloud", 1, &ICPOdometry::callbackCloud, this);
scan_sub_ = nh.subscribe("scan", queueSize, &ICPOdometry::callbackScan, this);
cloud_sub_ = nh.subscribe("scan_cloud", queueSize, &ICPOdometry::callbackCloud, this);
filtered_scan_pub_ = nh.advertise<sensor_msgs::PointCloud2>("odom_filtered_input_scan", 1);
}