Updated osuter example with option to set wait tf duration, increased…

… too low Icp/PMOutlierRatio

rtabmap_examples/launch/test_ouster_gen2.launch

@@ -49,6 +49,7 @@
     <arg name="ptp"           default="false"/>          <!-- See comments in header to start before launching the launch -->
     <arg name="imu_topic"     default="/os_cloud_node/imu"/>
     <arg name="scan_topic"    default="/os_cloud_node/points"/>
+    <arg name="wait_for_transform"    default="0.01"/>
 
     <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
 
@@ -77,11 +78,12 @@
       <remap from="imu/data" to="$(arg imu_topic)/filtered"/>
       <param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
       <param name="base_frame_id" value="$(arg frame_id)"/>
+      <param name="wait_for_transform_duration" value="$(arg wait_for_transform)"/>
     </node>
 
     <!-- Lidar Deskewing -->
     <node if="$(arg deskewing)" pkg="nodelet" type="nodelet" name="lidar_deskewing" args="standalone rtabmap_util/lidar_deskewing" output="screen">
-      <param name="wait_for_transform" value="0.01"/>
+      <param name="wait_for_transform" value="$(arg wait_for_transform)"/>
       <param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
       <param name="slerp" value="$(arg slerp)"/>
       <remap from="input_cloud" to="$(arg scan_topic)"/>
@@ -101,6 +103,7 @@
 
         <param name="guess_frame_id"   type="string" value="$(arg frame_id)_stabilized"/>
         <param name="wait_imu_to_init" type="bool" value="true"/>
+        <param name="wait_for_transform_duration" value="$(arg wait_for_transform)"/>
 
         <!-- ICP parameters -->
         <param name="Icp/PointToPlane"        type="string" value="true"/>
@@ -113,7 +116,7 @@
         <param name="Icp/MaxTranslation"      type="string" value="2"/>
         <param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
         <param name="Icp/PM"                  type="string" value="true"/>
-        <param name="Icp/PMOutlierRatio"      type="string" value="0.1"/>
+        <param name="Icp/PMOutlierRatio"      type="string" value="0.5"/>
         <param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
         <param name="Icp/ReciprocalCorrespondences" type="string" value="false"/>