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[rf2o] added ref to project page on demo.launch and also included new verbose parameter

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jgmonroy
2017-08-03 17:51:41 +02:00
parent 7998dec88d
commit f9c9e21c9a
1 changed files with 6 additions and 1 deletions
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launch/rf2o_laser_odometry.launch
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@@ -3,9 +3,13 @@
from consecutive range scans. It is very useful for the estimation of the robot odometry from from consecutive range scans. It is very useful for the estimation of the robot odometry from
2D laser range measurements. 2D laser range measurements.
For more info please visit: http://mapir.isa.uma.es/work/rf2o
Requirements: Requirements:
- 2D laser scan, publishing sensor_msgs::LaserScan - 2D laser scan, publishing sensor_msgs::LaserScan
- TF transform from the laser to the robot base - TF transform from the laser to the robot base
- MRPT (http://www.mrpt.org/)
- Tested with v1.3 (official ubuntu release)
--> -->
<launch> <launch>
@@ -17,7 +21,8 @@
<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="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="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="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" <param name="freq" value="6.0"/> # Execution frequency.
<param name="verbose" value="true" /> # verbose
</node> </node>
</launch> </launch>