• launch/record_rosbag_slam_footstep.launch
  • • save_dir [default: $(env HOME)/.ros/slam_rosbag]
    • save_robot_model [default: true]
    • save_openni [default: false]
    • save_multisense [default: false]
    • save_all_image [default: false]
    • camera_namespace [default: multisense]
    • other_topics [default: ]
    • other_regex_topics [default: ]
• launch/pointcloud_to_laserscan.launch
  • original : navigation_global/move_base.xml (electric)
  • • cloud_in [default: /multisense/organized_image_points2_color]
    • scan_frame [default: pointcloud_to_scan_base]
    • max_height [default: 0.5]
    • min_height [default: -0.5]
    • angle_max [default: 2.35619]
    • angle_min [default: -2.35619]
    • range_max [default: 50.0]
    • scan_height [default: 1.0]
    • scan_frame_parent [default: BODY]
    • scan_frame_odom [default: odom]
    • use_fixed_frame [default: true]
• launch/biped_localization.launch
  • • set_slam_laser_params [default: true]
    • use_particle_odom [default: true]
    • use_slam_feedback [default: false]
    • nodelet_index [default: 2]
    • stereo_namespace [default: multisense]
    • slam_laser_scan_height [default: 0.5]
    • slam_laser_max_height [default: 0.2]
    • slam_laser_min_height [default: -0.2]
    • parameter_yaml [default: $(find jsk_robot_startup)/config/default_odometry_params.yaml]
    • use_gmapping [default: true]
    • use_rtabmap [default: false]
    • imu_topic [default: /imu]
    • base_odom_topic [default: /odom]
    • base_link_frame [default: BODY]
    • stereo [default: $(arg stereo_namespace)]
    • image [default: image_rect]
    • use_robot_pose_ekf [default: false]
    • publish_viso_tf [default: false]
    • invert_viso_tf [default: true]
    • use_rviz [default: false]
    • use_stereo_odometry [default: false]
    • use_rtabmap [default: true]
    • odom_topic [default: /biped_odom_particle]
    • base_frame_id [default: $(arg base_link_frame)]
    • odom_frame_id [default: biped_odom_particle]
    • map_frame_id [default: map]
    • publish_tf [default: true]
    • left_image [default: /multisense_local/left/image_rect]
    • right_image [default: /multisense_local/right/image_rect]
    • left_camera_info [default: /multisense_local/left/camera_info]
    • right_camera_info [default: /multisense_local/right/camera_info]
• launch/particle_odometry.launch
  • • use_slam_feedback [default: false]
    • use_odometry_iir_filter [default: false]
    • parameter_yaml [default: $(find jsk_robot_startup)/config/default_odometry_params.yaml]
    • map_topic [default: /map]
    • imu_topic [default: /imu]
    • base_odom_topic [default: /odom]
    • base_link_frame [default: BODY]
• launch/rtabmap.launch
  • • use_rviz [default: false]
    • use_stereo_odometry [default: true]
    • use_rtabmap [default: true]
    • odom_topic [default: /odom]
    • base_frame_id [default: BODY]
    • odom_frame_id [default: odom_init]
    • map_frame_id [default: map]
    • publish_tf [default: true]
    • left_image [default: /multisense_local/left/image_rect]
    • right_image [default: /multisense_local/right/image_rect]
    • left_camera_info [default: /multisense_local/left/camera_info]
    • right_camera_info [default: /multisense_local/right/camera_info]
• launch/record_rosbag_slam.launch
  • • save_dir [default: $(env HOME)/.ros/slam_rosbag]
    • save_robot_model [default: true]
    • save_openni [default: false]
    • save_multisense [default: false]
    • save_all_image [default: false]
    • camera_namespace [default: multisense]
    • other_topics [default: ]
    • other_regex_topics [default: ]
• launch/multisense_local.launch
  • • ip_address [default: ]
    • mtu [default: 1500]
    • imu_topic [default: /imu]
    • SELF_FILTER_PARAM [default: ]
    • ODOMETRY_PARAM [default: $(find jsk_robot_startup)/config/default_odometry_params.yaml]
    • RUN_DRIVER [default: true]
    • USE_RESIZE [default: true]
    • HEIGHTMAP_FILTER_Z [default: 1.3]
    • USE_HEIGHTMAP [default: true]
    • USE_BIPED_LOCALIZATION [default: true]
    • BASE_LINK_FRAME [default: BODY]
    • BASE_ODOM_TOPIC [default: /odom]
    • use_particle_odom [default: true]
    • parameter_yaml [default: $(arg ODOMETRY_PARAM)]
    • STATIC_FRAME [default: odom]
    • STAND_FRAME [default: odom_init]
• launch/gmapping.launch
  • original : navigation_global/move_base.xml (electric)
  • • scan_frame_parent [default: BODY]
    • scan_frame [default: pointcloud_to_scan_base]
    • map_frame [default: map]
    • odom_frame [default: odom]
    • cloud_in [default: /multisense/organized_image_points2_color]
    • scan_height [default: 1.0]
    • max_height [default: 0.5]
    • min_height [default: -0.5]
    • angle_max [default: 2.35619]
    • angle_min [default: -2.35619]
    • range_max [default: 30.0]
    • use_fixed_frame [default: true]
    • particles [default: 30]
    • iterations [default: 5]
    • lsigma [default: 0.075]
    • temporal_update [default: -1.0]
    • map_update_interval [default: 5.0]
    • minimum_score [default: 0.0]
    • delta [default: 0.025]
    • srr [default: 0.025]
    • srt [default: 0.05]
    • str [default: 0.025]
    • stt [default: 0.05]
• launch/slam_laser_nodelets.launch
  • • nodelet_index [default: 2]
    • laser_input [default: /multisense/cloud_self_filtered]
    • assemble_base_frame [default: map]
• launch/odometry_integration.launch
  • • stereo [default: multisense]
    • image [default: image_rect]
    • use_robot_pose_ekf [default: false]
    • publish_viso_tf [default: true]
    • invert_viso_tf [default: true]
• launch/slam_octomap.launch
  • • input_cloud [default: /robot_center_pointcloud_bbox_clipped/output]
• launch/viso.launch
  • • stereo [default: multisense]
    • image [default: image_rect]
    • odom_frame_id [default: viso_odom]
    • base_link_frame_id [default: BODY]
    • sensor_frame_id [default: left_camera_optical_frame]
    • output_odom_topic [default: viso_odom]
    • publish_viso_tf [default: false]
    • invert_viso_tf [default: false]
    • use_robot_pose_ekf [default: true]
    • odom_used [default: true]
    • odom_data [default: /odom]
    • imu_used [default: false]
    • imu_data [default: /imu]
• lifelog/mongodb.launch
  • • db_path [default: /var/lib/robot/mongodb_store]
    • port [default: 62345]
    • repl_set_mode [default: false]
    • use_daemon [default: false]
    • db_name [default: jsk_robot_lifelog]
    • machine [default: localhost]
    • replicate [default: true]
    • replicator_dump_path [default: /tmp/replicator_dumps]
    • replicator_param_path [default: $(find jsk_robot_startup)/lifelog/mongodb_replication_params.yaml]
    • test_mode [default: false]
• lifelog/tweet.launch
  • • robot_name [default: PR2]
    • worktime_enable [default: true]
    • uptime_enable [default: true]
    • tablet_enable [default: true]
    • warning_enable [default: true]
    • motor_subscribe [default: true]
    • odom_subscribe [default: true]
    • joint_state_subscribe [default: true]
    • position_diff_threshold [default: 0.05]
    • remap_motor_state [default: /pr2_ethercat/motors_halted]
    • remap_odom_state [default: /base_odometry/odometer]
    • remap_joint_states [default: /joint_states]
    • remap_diagnostics [default: /diagnostics]
    • image_topics [default: /kinect_head/rgb/image_rect_color /wide_stereo/left/image_rect_color]
    • machine [default: localhost]
    • output [default: screen]
    • account_info [default: /var/lib/robot/twitter_account_pr2jsk.yaml]
• lifelog/sample_image_logger.launch
  • • logging_rate [default: 1.0]
    • launch_manager [default: false]
    • image [default: /camera/rgb/image_rect_color]
    • manager [default: image_logger_nodelet_manager]
    • manager [default: /camera/camera_nodelet_manager]
    • launch_mongodb [default: true]
• lifelog/app_manager.launch
  • • applist — dirpath where *.installed file is located
    • launch_websocket [default: true] — launch rosbridge_websocket if true
    • websocket_port [default: 9090] — port number for rosbridge_websocket server
    • launch_roswww [default: true] — launch roswww server if true
    • roswww_port [default: 8000] — port number for roswww server
    • remote [default: false] — set true with valid 'machine' argument
    • machine [default: localhost]
• lifelog/mongodb_local.launch
• lifelog/common_logger.launch
  • • save_rgb [default: true]
    • save_depth [default: true]
    • save_tf [default: true]
    • save_joint_states [default: true]
    • save_speech [default: true]
    • save_smach [default: true]
    • save_base_trajectory [default: false]
    • save_object_detection [default: false]
    • save_action [default: false]
    • save_app [default: true]
    • camera_ns [default: kinect_head]
    • rgb_ns [default: rgb]
    • rgb_suffix [default: /compressed]
    • depth_ns [default: depth_registered]
    • depth_suffix [default: /compressedDepth]
    • camera_info_topic [default: camera_info]
    • rgb_topic [default: image_rect_color]
    • depth_topic [default: image_rect]
    • joint_states_topic [default: joint_states]
    • base_frame_id [default: base_link]
    • map_frame_id [default: eng2]
    • sensor_frame_id [default: head_mount_kinect_rgb_optical_frame]
    • localhost [default: true]
    • machine
    • launch_manager [default: true]
    • manager
    • approximate_sync [default: true]
    • enable_monitor [default: false]
    • log_rate [default: 1.0]
    • respawn [default: false]
    • vital_check [default: true]
    • vital_rate [default: 0.1]

• nodelet

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