templates/lms-nav2-gazebo-localization
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fix: allow RTAB-Map to initialize away from map origin

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chyoo
2026-08-10 11:59:33 +09:00
parent 42d105bad0
commit 8d6c0222ba
1 changed files with 2 additions and 2 deletions
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src/localization_pkg/config/rtabmap_mkmini.yaml
+2 -2
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@@ -68,7 +68,7 @@ rtabmap:
Grid/MinClusterSize: "10" Grid/MinClusterSize: "10"
Grid/FlatObstacleDetected: "true" Grid/FlatObstacleDetected: "true"
RGBD/StartAtOrigin: "true" RGBD/StartAtOrigin: "false"
RGBD/LocalizationPriorError: "5.0" RGBD/LocalizationPriorError: "5.0"
RGBD/LocalizationSmoothing: "false" RGBD/LocalizationSmoothing: "false"
Icp/GuessFromTf: "false" Icp/GuessFromTf: "false"
@@ -93,4 +93,4 @@ rtabmap:
Icp/Force4DoF: "true" Icp/Force4DoF: "true"
Icp/CorrespondenceRatio: "0.02" Icp/CorrespondenceRatio: "0.02"
Odom/GuessMotion: "false" Odom/GuessMotion: "false"