Posted by
zelda on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-done-but-can-t-do-relocalization-tp1257p1281.html
Well, before checking others, I want to be sure with publish frequency.
I am currently using Turtlebot, with Kobuki base. I use "$roslaunch turtlebot_bringup minimal.launch" to start. (In Turtlebot)
turtlebot_bringup package is located in /opt/ros/indigo/share, so I go to there and check to minimal.launch file.
It is in /opt/ros/indigo/share/turtlebot_bringup/launch, and contains
<include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="stacks" value="$(arg stacks)" />
<arg name="3d_sensor" value="$(arg 3d_sensor)" />
</include>
<include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="serialport" value="$(arg serialport)" />
</include>
<include file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml">
<arg name="battery" value="$(arg battery)" />
</include>
So I changed the file /opt/ros/indigo/share/turtlebot_bringup/launch/robot.launch.xml,
value 5.0 to 10.0(I did all of them in Turtlebot)(But now I also changed the value of WS).
But After saving, closing all the terminals and turning back, I get
* /robot_state_publisher/publish_frequency: 5.0
at the launching.
Is there way to check where that parameter is getting used?
Is there any build or make that I had to do?