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- New param to set the topic name where to publish the odometry

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- New param to set if tf transformations are published or not (usefull when comparing different odometries)
- new option to set the initial pose of the robot (from another topic). This is useful for simulation when the robot spans at pose (X,Y).
- New launch file with the added params
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jgmonroy
2017-02-27 11:47:53 +01:00
parent 59a969448c
commit d8dc993f9e
3 changed files with 110 additions and 43 deletions
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14
launch/rf2o_laser_odometry.launch
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@@ -10,10 +10,14 @@
<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 pkg="rf2o_laser_odometry" type="rf2o_laser_odometry_node" name="rf2o_laser_odometry" output="screen">
<param name="laser_scan_topic" value="/laser_scan"/> # topic where the lidar scans are being published
<param name="odom_topic" value="/odom_rf2o" /> # topic where tu publish the odometry estimations
<param name="publish_tf" value="false" /> # wheter or not to publish the tf::transform (base->odom)
<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="init_pose_from_topic" value="/base_pose_ground_truth" /> # (Odom topic) Leave empty to start at point (0,0)
<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>