fix launch options

clubcapra · Jun 13, 2024 · 28c16b6 · 28c16b6
1 parent c4ab9d9
commit 28c16b6
Showing 1 changed file with 15 additions and 4 deletions.
diff --git a/src/rove_rtabmap/launch/rtabmap.launch.py b/src/rove_rtabmap/launch/rtabmap.launch.py
@@ -13,16 +13,27 @@ def generate_launch_description():
             ['depth_topic', '/zed/zed_node/depth/depth_registered' ],
             ['camera_info_topic', '/zed/zed_node/depth/camera_info'],
             ['odom_topic', '/zed/zed_node/odom' ],
-            ['odom_frame_id', '/zed/zed_node/odom'],
+            # ['odom_frame_id', '/zed/zed_node/odom'],
             ['imu_topic', '/zed/zed_node/imu/data' ],
             ['visual_odometry', 'false' ],
             ['frame_id', 'zed_camera_link' ],
-            ['approx_sync', 'true' ],
+            ['approx_sync', 'false' ],
             ['rgbd_sync', 'true' ],
             ['approx_rgbd_sync', 'false'],
             ['delete_db_on_start', 'true'],
-            ['subscribe_scan', 'true'],
-            ['scan_topic', '/scan'],
+            # ['subscribe_scan_cloud', 'true'],
+            # ['scan_cloud_topic', '/velodyne_points'],
+            # ['RGBD/NeighborLinkRefining', 'true'],
+            # ['RGBD/ProximityBySpace', 'true'],
+            # ['RGBD/AngularUpdate', '0.01'],
+            # ['RGBD/LinearUpdate', '0.01'],
+            # ['RGBD/OptimizeFromGraphEnd', 'false'],
+            # ['Grid/FromDepth', 'false'],
+            # ['Reg/Force3DoF', 'true'],
+            # ['Reg/Strategy', '1'],
+            # ['Icp/VoxelSize', '0.05'],
+            # ['Icp/MaxCorrespondenceDistance', '0.1'],
+            # ['Optimizer/Slam2D', 'true'],
           ]
 
     pkg_rtabmap = get_package_share_directory('rtabmap_launch')