added rtabmap marker parameters.

antoan · May 30, 2022 · 0c3907b · 0c3907b
1 parent 04ae65b
commit 0c3907b
Showing 1 changed file with 13 additions and 1 deletion.
diff --git a/nemesis_navigation/launch/rs_rtabmap.launch b/nemesis_navigation/launch/rs_rtabmap.launch
@@ -23,7 +23,19 @@
     </include>
 
     <include file="$(find nemesis_navigation)/launch/rtabmap.launch">
-            <arg name="rtabmap_args"       value="--delete_db_on_start -d --Mem/UseOdomGravity true --Optimizer/GravitySigma 0.3 --Optimizer/Strategy 2 --Optimizer/Robust true --RGBD/OptimizeMaxError 0 --Reg/Force3DoF true --Optimizer/Slam2D true"/>
+
+             <arg name="rtabmap_args"  value="--delete_db_on_start -d
+            --Mem/UseOdomGravity true
+            --Optimizer/GravitySigma 0.3
+            --Optimizer/Strategy 2
+            --Optimizer/Robust true
+            --RGBD/OptimizeMaxError 0
+            --Reg/Force3DoF true
+            --Optimizer/Slam2D true
+            --RGBD/MarkerDetection true
+            --Marker/Dictionary 20
+            --Marker/Length 0.162"/>
+
             <arg name="depth_topic"        value="/$(arg camera2)/aligned_depth_to_color/image_raw"/>
             <arg name="frame_id"           value="t265_link"/>
             <arg name="rgbd_sync"          value="true"/>