vlp example: moved rtabmap's parameters from arguments to parameters …

…to avoid string parameter conversion errors like #1134
introlab · Mar 24, 2024 · bfef9ee · bfef9ee
1 parent 9fc7212
commit bfef9ee
Showing 1 changed file with 38 additions and 38 deletions.
diff --git a/rtabmap_examples/launch/vlp16.launch.py b/rtabmap_examples/launch/vlp16.launch.py
@@ -37,26 +37,25 @@ def generate_launch_description():
               'expected_update_rate':15.0,
               'deskewing':deskewing,
               'use_sim_time':use_sim_time,
+              # RTAB-Map's internal parameters are strings:
+              'Icp/PointToPlane': 'true',
+              'Icp/Iterations': '10',
+              'Icp/VoxelSize': '0.1',
+              'Icp/Epsilon': '0.001',
+              'Icp/PointToPlaneK': '20',
+              'Icp/PointToPlaneRadius': '0',
+              'Icp/MaxTranslation': '2',
+              'Icp/MaxCorrespondenceDistance': '1',
+              'Icp/Strategy': '1',
+              'Icp/OutlierRatio': '0.7',
+              'Icp/CorrespondenceRatio': '0.01',
+              'Odom/ScanKeyFrameThr': '0.4',
+              'OdomF2M/ScanSubtractRadius': '0.1',
+              'OdomF2M/ScanMaxSize': '15000',
+              'OdomF2M/BundleAdjustment': 'false'
             }],
             remappings=[
               ('scan_cloud', '/velodyne_points')
-            ],
-            arguments=[
-              'Icp/PointToPlane', 'true',
-              'Icp/Iterations', '10',
-              'Icp/VoxelSize', '0.1',
-              'Icp/Epsilon', '0.001',
-              'Icp/PointToPlaneK', '20',
-              'Icp/PointToPlaneRadius', '0',
-              'Icp/MaxTranslation', '2',
-              'Icp/MaxCorrespondenceDistance', '1',
-              'Icp/Strategy', '1',
-              'Icp/OutlierRatio', '0.7',
-              'Icp/CorrespondenceRatio', '0.01',
-              'Odom/ScanKeyFrameThr', '0.4',
-              'OdomF2M/ScanSubtractRadius', '0.1',
-              'OdomF2M/ScanMaxSize', '15000',
-              'OdomF2M/BundleAdjustment', 'false',
             ]),
 
         Node(
@@ -80,32 +79,33 @@ def generate_launch_description():
               'approx_sync':False,
               'wait_for_transform':0.2,
               'use_sim_time':use_sim_time,
+              # RTAB-Map's internal parameters are strings:
+              'RGBD/ProximityMaxGraphDepth': '0',
+              'RGBD/ProximityPathMaxNeighbors': '1',
+              'RGBD/AngularUpdate': '0.05',
+              'RGBD/LinearUpdate': '0.05',
+              'RGBD/CreateOccupancyGrid': 'false',
+              'Mem/NotLinkedNodesKept': 'false',
+              'Mem/STMSize': '30',
+              'Mem/LaserScanNormalK': '20',
+              'Reg/Strategy': '1',
+              'Icp/VoxelSize': '0.1',
+              'Icp/PointToPlaneK': '20',
+              'Icp/PointToPlaneRadius': '0',
+              'Icp/PointToPlane': 'true',
+              'Icp/Iterations': '10',
+              'Icp/Epsilon': '0.001',
+              'Icp/MaxTranslation': '3',
+              'Icp/MaxCorrespondenceDistance': '1',
+              'Icp/Strategy': '1',
+              'Icp/OutlierRatio': '0.7',
+              'Icp/CorrespondenceRatio': '0.2'
             }],
             remappings=[
               ('scan_cloud', 'assembled_cloud')
             ],
             arguments=[
-              '-d', # This will delete the previous database (~/.ros/rtabmap.db)
-              'RGBD/ProximityMaxGraphDepth', '0',
-              'RGBD/ProximityPathMaxNeighbors', '1',
-              'RGBD/AngularUpdate', '0.05',
-              'RGBD/LinearUpdate', '0.05',
-              'RGBD/CreateOccupancyGrid', 'false',
-              'Mem/NotLinkedNodesKept', 'false',
-              'Mem/STMSize', '30',
-              'Mem/LaserScanNormalK', '20',
-              'Reg/Strategy', '1',
-              'Icp/VoxelSize', '0.1',
-              'Icp/PointToPlaneK', '20',
-              'Icp/PointToPlaneRadius', '0',
-              'Icp/PointToPlane', 'true',
-              'Icp/Iterations', '10',
-              'Icp/Epsilon', '0.001',
-              'Icp/MaxTranslation', '3',
-              'Icp/MaxCorrespondenceDistance', '1',
-              'Icp/Strategy', '1',
-              'Icp/OutlierRatio', '0.7',
-              'Icp/CorrespondenceRatio', '0.2',
+              '-d' # This will delete the previous database (~/.ros/rtabmap.db)
             ]), 
 
         Node(