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Javier G. Monroy
2017-02-16 17:26:15 +01:00
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commit 9d19a24407
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launch/rf2o_laser_odometry.launch Normal file
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<!--
This node presents a fast and precise method to estimate the planar motion of a lidar
from consecutive range scans. It is very useful for the estimation of the robot odometry from
2D laser range measurements.
Requirements:
- 2D laser scan, publishing sensor_msgs::LaserScan
- TF transform from the laser to the robot base
-->
<launch>
<node pkg="rf2o_laser_odometry" type="rf2o_laser_odometry_node" name="rf2o_laser_odometry">
<param name="laser_scan_topic" value="/laser_scan"/> <!-- topic where the lidar scans are being published -->
<param name="base_frame_id" value="/base_link"/> <!-- frame_id (tf) of the mobile robot base. A tf transform from the laser_frame to the base_frame is mandatory -->
<param name="odom_frame_id" value="/odom" /> <!-- frame_id (tf) to publish the odometry estimations -->
<param name="freq" value="6.0"/> <!-- Execution frequency. See "Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach. ICRA'16"-->
</node>
</launch>