Cleanup whitespace in Stretch Navigation and Rtabmap

stretch_navigation/LICENSE.md

@@ -7,5 +7,5 @@ The Contents are licensed under the Apache License, Version 2.0 (the "License").
 http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-   
+
 For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc.

stretch_navigation/README.md

@@ -30,7 +30,7 @@ Rviz will show the robot and the map that is being constructed. With the termina
 ```bash
 mkdir -p ~/stretch_user/maps
 rosrun map_server map_saver -f ${HELLO_FLEET_PATH}/maps/<map_name>
-``` 
+```
 
 The `<map_name>` does not include an extension. Map_saver will save two files as `<map_name>.pgm` and `<map_name>.yaml`.
 
@@ -76,4 +76,4 @@ roslaunch stretch_core teleop_twist.launch teleop_type:=keyboard # or use teleop
 
 ## License
 
-For license information, please see the LICENSE files. 
+For license information, please see the LICENSE files.

stretch_navigation/launch/navigation/map_server.launch

@@ -4,5 +4,5 @@
   <arg name="map_name" default="map" />
 
   <!-- launch map server -->
-	<node name="map_server" pkg="map_server" type="map_server" output="screen" args="$(arg map_name)"/>
-</launch>
+  <node name="map_server" pkg="map_server" type="map_server" output="screen" args="$(arg map_name)"/>
+</launch>

stretch_navigation/launch/navigation/move_base.launch

@@ -2,7 +2,7 @@
   <!-- Doc: http://wiki.ros.org/move_base?distro=kinetic -->
 
   <arg name="config"/>
-  
+
   <arg name="cmd_vel_topic"/>
   <arg name="odom_topic"/>
 
@@ -27,4 +27,4 @@
     <remap from="odom" to="$(arg odom_topic)" />
   </node>
 
-</launch>
+</launch>

stretch_navigation/launch/navigation/octomap_server.launch

@@ -1,6 +1,6 @@
 <launch>
   <!-- Doc: http://wiki.ros.org/octomap_server?distro=kinetic -->
-  
+
   <arg name="map" default="map" />
   <arg name="base_link" default="base_link" />
 
@@ -30,4 +30,4 @@
     <remap from="clear_bbx" to="clear_bbx_negative" />
     <remap from="reset" to="reset_negative" />
   </node>
-</launch>
+</launch>

stretch_navigation/launch/navigation_3d.launch

@@ -1,5 +1,5 @@
 <launch>
-  <!-- The navigation_3d launch file includes all of the launch files needed for a robot to accomplish 3D navigation.  
+  <!-- The navigation_3d launch file includes all of the launch files needed for a robot to accomplish 3D navigation.
   The nodes needed for navigation are map_server, octomap_server, amcl, and move_base.-->
 
   <!-- Map name -->
@@ -43,4 +43,4 @@
 
   <node type="rviz" name="rviz" pkg="rviz" args="-d $(find stretch_navigation)/rviz/octomap.rviz" />
 
-</launch>
+</launch>

stretch_navigation/resources/config/2d/base_local_planner_params.yaml

@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
+
   prune_plan: true

stretch_navigation/resources/config/2d/costmap_common_params.yaml

@@ -12,10 +12,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -23,4 +23,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.3
-  cost_scaling_factor: 2.5
+  cost_scaling_factor: 2.5

stretch_navigation/resources/config/2d/global_costmap_params.yaml

@@ -7,7 +7,5 @@ global_costmap:
   robot_base_frame: base_link
   update_frequency: 10.0
   publish_frequency: 0.5
-  static_map: 
+  static_map:
     map_topic: /map
-    
-

stretch_navigation/resources/config/2d/global_planner_params.yaml

@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
+  outline_map: false

stretch_navigation/resources/config/2d_unknown/base_local_planner_params.yaml

@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
+
   prune_plan: true

stretch_navigation/resources/config/2d_unknown/costmap_common_params.yaml

@@ -10,10 +10,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -21,4 +21,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.75
-  cost_scaling_factor: 2.5
+  cost_scaling_factor: 2.5

stretch_navigation/resources/config/2d_unknown/global_planner_params.yaml

@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
+  outline_map: false

stretch_navigation/resources/config/3d/base_local_planner_params.yaml

@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
-  prune_plan: true
+
+  prune_plan: true

stretch_navigation/resources/config/3d/costmap_common_params.yaml

@@ -33,7 +33,7 @@ map_type: costmap
     horizontal_fov_angle: 0.942478   #default 1.04, radians
     decay_acceleration: 1       #default 0, 1/s^2. If laser scanner MUST be 0
     model_type: 0                #default 0 (depth camera). Use 1 for 3D Lidar
-    
+
   negative_obstacle:
     enabled: true                #default true, can be toggled on/off with associated service call
     data_type: PointCloud2
@@ -52,10 +52,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -63,4 +63,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.2
-  cost_scaling_factor: 2.5
+  cost_scaling_factor: 2.5

stretch_navigation/resources/config/3d/global_costmap_params.yaml

@@ -11,10 +11,9 @@ global_costmap:
   update_frequency: 10.0
   publish_frequency: 0.5
   rolling_window: false #idk about this one
-  static_map_2d: 
+  static_map_2d:
     map_topic: /map
-  static_map_3d_positive: 
+  static_map_3d_positive:
     map_topic: /projected_map
-  static_map_3d_negative: 
+  static_map_3d_negative:
     map_topic: /projected_map_negative
-    

stretch_navigation/resources/config/3d/global_planner_params.yaml

@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
+  outline_map: false

stretch_navigation/resources/config/3d_unknown/base_local_planner_params.yaml

@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
-  prune_plan: true
+
+  prune_plan: true

stretch_navigation/resources/config/3d_unknown/costmap_common_params.yaml

@@ -22,7 +22,7 @@ map_type: costmap
 
   origin_z: 0.0    #meters
   publish_voxel_map: true   # default off
-  transform_tolerance: 0.4    
+  transform_tolerance: 0.4
   mapping_mode: false  # default off, saves map not for navigation
   map_save_duration: 60     #default 60s, how often to autosave
   observation_sources: positive_obstacle negative_obstacle
@@ -40,7 +40,7 @@ map_type: costmap
     horizontal_fov_angle: 1.04   #default 1.04, radians
     decay_acceleration: 1       #default 0, 1/s^2. If laser scanner MUST be 0
     model_type: 0                #default 0 (depth camera). Use 1 for 3D Lidar
-    
+
   negative_obstacle:
     enabled: true                #default true, can be toggled on/off with associated service call
     data_type: PointCloud2
@@ -59,10 +59,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: /scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: /scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -70,4 +70,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.75
-  cost_scaling_factor: 2.5
+  cost_scaling_factor: 2.5

stretch_navigation/resources/config/3d_unknown/global_costmap_params.yaml

@@ -12,4 +12,3 @@ global_costmap:
   width: 500.0
   height: 500.0
   resolution: 0.1
-    

stretch_navigation/resources/config/3d_unknown/global_planner_params.yaml

@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
+  outline_map: false

stretch_navigation/resources/config/amcl.yaml

@@ -40,4 +40,4 @@ amcl:
     always_reset_initial_pose: false
     use_map_topic: true
     scan_topic: "/scan"
-    map_topic: "/map"
+    map_topic: "/map"

stretch_navigation/resources/config/costmap_height.yaml

@@ -1,3 +1,3 @@
 3d_obstacles:
   positive_obstacle:
-    max_obstacle_height: 1.5
+    max_obstacle_height: 1.5

stretch_octomap/LICENSE.md

@@ -7,5 +7,5 @@ The Contents are licensed under the Apache License, Version 2.0 (the "License").
 http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-   
+
 For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc.

stretch_octomap/README.md

@@ -6,4 +6,4 @@
 
 ## License
 
-For license information, please see the LICENSE files. 
+For license information, please see the LICENSE files.

stretch_octomap/launch/octomap_mapper.launch

@@ -1,6 +1,6 @@
 <launch>
   <!-- Doc: http://wiki.ros.org/octomap_server?distro=kinetic -->
-  
+
   <arg name="pointcloud_topic" />
   <arg name="base_link" default="base_link" />
 
@@ -12,6 +12,6 @@
     <param name="frame_id" type="string" value="map" />
     <param name="sensor_model/max_range" value="3.0" />
     <param name="filter_ground" value="false" />
-      
+
   </node>
-</launch>
+</launch>

stretch_rtabmap/LICENSE.md

@@ -7,5 +7,5 @@ The Contents are licensed under the Apache License, Version 2.0 (the "License").
 http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-   
+
 For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc.

stretch_rtabmap/README.md

@@ -34,9 +34,9 @@ Use `rosdep` to install the required packages.
 ```
 ## Code Status & Development Plans
 
-Move_base_config | Gazebo | Stretch RE1
-2d | okay | Good
-2d_unkown | Not Implemented | Not Implemented
-3d | Testing | Testing
-3d_unkown | Not Implemented | Not Implemented
+Move_base_config | Gazebo          | Stretch RE1
+-----------------|-----------------|----------------
+2d               | okay            | Good
+2d_unkown        | Not Implemented | Not Implemented
+3d               | Testing         | Testing
+3d_unkown        | Not Implemented | Not Implemented

stretch_rtabmap/config/2d/base_local_planner_params.yaml

@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
+
   prune_plan: true

stretch_rtabmap/config/2d/costmap_common_params.yaml

@@ -12,10 +12,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -23,4 +23,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.3
-  cost_scaling_factor: 2.5
+  cost_scaling_factor: 2.5

stretch_rtabmap/config/2d/global_costmap_params.yaml

@@ -7,7 +7,5 @@ global_costmap:
   robot_base_frame: base_link
   update_frequency: 10.0
   publish_frequency: 0.5
-  static_map: 
+  static_map:
     map_topic: /map
-    
-

stretch_rtabmap/config/2d/global_planner_params.yaml

@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
+  outline_map: false

stretch_rtabmap/config/2d_unknown/base_local_planner_params.yaml

@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
+
   prune_plan: true

stretch_rtabmap/config/2d_unknown/costmap_common_params.yaml

@@ -10,10 +10,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -21,4 +21,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.75
-  cost_scaling_factor: 2.5
+  cost_scaling_factor: 2.5

stretch_rtabmap/config/2d_unknown/global_planner_params.yaml

@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
+  outline_map: false

stretch_rtabmap/config/3d/base_local_planner_params.yaml

@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
+
   prune_plan: true

stretch_rtabmap/config/3d/costmap_common_params.yaml

@@ -35,11 +35,11 @@ map_type: voxel
 2d_obstacles:
   enabled: true
   observation_sources: laser
-  laser: 
-    data_type: LaserScan 
+  laser:
+    data_type: LaserScan
     topic: /scan
     marking: true
-    clearing: true 
+    clearing: true
     expected_update_rate: 0.3
     track_unknown_space: true
 
@@ -47,4 +47,4 @@ map_type: voxel
 inflation_layer:
   enabled: true
   inflation_radius: 0.3
-  cost_scaling_factor: 2.5
+  cost_scaling_factor: 2.5

stretch_rtabmap/config/3d/global_costmap_params.yaml

@@ -9,6 +9,5 @@ global_costmap:
   update_frequency: 1.0
   publish_frequency: 0.5
   rolling_window: true
-  static_map_2d: 
+  static_map_2d:
     map_topic: /map
-    

stretch_rtabmap/config/3d/global_planner_params.yaml

@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
+  outline_map: false

stretch_rtabmap/config/3d_unknown/base_local_planner_params.yaml

@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
-  prune_plan: true
+
+  prune_plan: true

stretch_rtabmap/config/3d_unknown/costmap_common_params.yaml

@@ -22,7 +22,7 @@ map_type: costmap
 
   origin_z: 0.0    #meters
   publish_voxel_map: true   # default off
-  transform_tolerance: 0.4    
+  transform_tolerance: 0.4
   mapping_mode: false  # default off, saves map not for navigation
   map_save_duration: 60     #default 60s, how often to autosave
   observation_sources: positive_obstacle negative_obstacle
@@ -40,7 +40,7 @@ map_type: costmap
     horizontal_fov_angle: 1.04   #default 1.04, radians
     decay_acceleration: 1       #default 0, 1/s^2. If laser scanner MUST be 0
     model_type: 0                #default 0 (depth camera). Use 1 for 3D Lidar
-    
+
   negative_obstacle:
     enabled: true                #default true, can be toggled on/off with associated service call
     data_type: PointCloud2
@@ -59,10 +59,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: /scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: /scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -70,4 +70,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.75
-  cost_scaling_factor: 2.5
+  cost_scaling_factor: 2.5

stretch_rtabmap/config/3d_unknown/global_costmap_params.yaml

@@ -12,4 +12,3 @@ global_costmap:
   width: 500.0
   height: 500.0
   resolution: 0.1
-    

stretch_rtabmap/config/3d_unknown/global_planner_params.yaml

@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
+  outline_map: false

stretch_rtabmap/config/amcl.yaml

@@ -20,4 +20,4 @@ amcl:
     update_min_d: 0.25
     use_map_topic: true
     scan_topic: "/scan"
-    map_topic: "/map"
+    map_topic: "/map"

stretch_rtabmap/config/costmap_height.yaml

@@ -1,3 +1,3 @@
 3d_obstacles:
   positive_obstacle:
-    max_obstacle_height: 1.5
+    max_obstacle_height: 1.5

stretch_rtabmap/config/stretch_gazebo.yaml

@@ -3,4 +3,4 @@ odom_topic: "/stretch_diff_drive_controller/odom"
 scan_topic: "/scan"
 pointcloud_topic: "/camera/depth/image_raw"
 rgb_topic: "/camera/color/image_raw"
-rgb_camera_info: "/camera/color/camera_info"
+rgb_camera_info: "/camera/color/camera_info"

stretch_rtabmap/launch/gazebo/gazebo.launch

@@ -31,7 +31,7 @@
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find stretch_gazebo)/config/sim.rviz" if="$(arg rviz)"/>
 
   <rosparam command="load"
-            file="$(find stretch_gazebo)/config/joints.yaml" 
+            file="$(find stretch_gazebo)/config/joints.yaml"
             ns="stretch_joint_state_controller" />
 
   <rosparam command="load"

stretch_rtabmap/launch/move_base.launch

@@ -2,7 +2,7 @@
   <!-- Doc: http://wiki.ros.org/move_base?distro=kinetic -->
 
   <arg name="config"/>
-  
+
   <arg name="cmd_vel_topic"/>
   <arg name="odom_topic"/>
 
@@ -26,4 +26,4 @@
     <remap from="odom" to="$(arg odom_topic)" />
   </node>
 
-</launch>
+</launch>

stretch_rtabmap/launch/robot.launch

@@ -33,4 +33,4 @@
     <!-- ROBOT LOCALIZATION FILTER -->
     <include file="$(find stretch_core)/launch/stretch_ekf.launch" />
     <!-- -->
-</launch>
+</launch>

stretch_rtabmap/launch/rtab.launch

@@ -2,7 +2,7 @@
   <arg name="localization"/>
   <arg name="args"/>
   <arg name="database_path"/>
-  <arg name="wait_for_transform"/> 
+  <arg name="wait_for_transform"/>
   <arg name="pointcloud_topic"/>
   <arg name="cmd_vel_topic"/>
   <arg name="odom_topic"/>
@@ -21,37 +21,37 @@
       <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
       <param name="subscribe_depth"     type="bool"   value="true"/>
       <param name="subscribe_scan"      type="bool"   value="true"/>
-    
+
       <!-- inputs -->
       <remap from="scan"            to="$(arg scan)"/>
       <remap from="rgb/image"       to="$(arg rgb_topic)"/>
       <remap from="depth/image"     to="$(arg pointcloud_topic)"/>
       <remap from="rgb/camera_info" to="$(arg rgb_camera_info)"/>
-      
+
       <!-- output -->
       <remap from="grid_map" to="/map"/>
-    
+
       <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
-      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>   
-      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>  
+      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>
+      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>
       <param name="Kp/MaxDepth"                  type="string" value="4.0"/>
-      <param name="Reg/Strategy"                 type="string" value="1"/>      
+      <param name="Reg/Strategy"                 type="string" value="1"/>
       <param name="Icp/CoprrespondenceRatio"     type="string" value="0.3"/>
-      <param name="Vis/MinInliers"               type="string" value="6"/>      
-      <param name="Vis/InlierDistance"           type="string" value="0.1"/>    
-      <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>    
-      <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>    
+      <param name="Vis/MinInliers"               type="string" value="6"/>
+      <param name="Vis/InlierDistance"           type="string" value="0.1"/>
+      <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>
+      <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>
       <param name="Rtabmap/TimeThr"              type="string" value="700"/>
       <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
-      <param name="Reg/Force3DoF"                type="string" value="true"/>  
+      <param name="Reg/Force3DoF"                type="string" value="true"/>
       <param name="Grid/FromDepth"               type="string" value="true"/>
-      <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/> 
-      
+      <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>
+
     </node>
-    
+
     <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
     <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
     <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
   </group>
 
-</launch>
+</launch>

stretch_rtabmap/launch/rtab_gazebo.launch

@@ -1,22 +1,22 @@
 <launch>
-  
+
   <arg name="database_path"     default="rtabmap.db"/>
   <arg name="args"              default=""/>
-  
-  <arg name="wait_for_transform"  default="0.2"/> 
+
+  <arg name="wait_for_transform"  default="0.2"/>
 
   <arg name="move_base_config" value="2d" />
   <arg name="pointcloud_topic" default="/camera/depth/color/points"/>
   <arg name="cmd_vel_topic" default="/stretch_diff_drive_controller/cmd_vel"/>
   <arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
-  
+
   <!-- Navigation stuff (move_base) -->
   <include file="$(find stretch_navigation)/launch/navigation/move_base.launch">
       <arg name="config" value="$(arg move_base_config)" />
       <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
       <arg name="odom_topic" value="$(arg odom_topic)" />
   </include>
-  
+
   <!-- Mapping -->
   <group ns="rtabmap">
 
@@ -27,35 +27,35 @@
       <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
       <param name="subscribe_depth"     type="bool"   value="true"/>
       <param name="subscribe_scan"      type="bool"   value="true"/>
-    
+
       <!-- inputs -->
       <remap from="scan"            to="/scan"/>
       <remap from="rgb/image"       to="/camera/color/image_raw"/>
       <remap from="depth/image"     to="/camera/depth/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/color/camera_info"/>
-      
+
       <!-- output -->
       <remap from="grid_map" to="/map"/>
-    
+
       <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
-      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>   
-      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>  
+      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>
+      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>
       <param name="Kp/MaxDepth"                  type="string" value="4.0"/>
-      <param name="Reg/Strategy"                 type="string" value="1"/>      
+      <param name="Reg/Strategy"                 type="string" value="1"/>
       <param name="Icp/CoprrespondenceRatio"     type="string" value="0.3"/>
-      <param name="Vis/MinInliers"               type="string" value="6"/>      
-      <param name="Vis/InlierDistance"           type="string" value="0.1"/>    
-      <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>    
-      <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>    
+      <param name="Vis/MinInliers"               type="string" value="6"/>
+      <param name="Vis/InlierDistance"           type="string" value="0.1"/>
+      <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>
+      <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>
       <param name="Rtabmap/TimeThr"              type="string" value="700"/>
       <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
       <param name="Optimizer/Slam2D"             type="string" value="true"/>
-      <param name="Reg/Force3DoF"                type="string" value="true"/>   
-      
+      <param name="Reg/Force3DoF"                type="string" value="true"/>
+
     </node>
-   
+
     <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
     <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
     <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
   </group>
-</launch>
+</launch>

stretch_rtabmap/launch/rtabmapviz.launch

@@ -1,8 +1,8 @@
 <launch>
-<group ns="rtabmap">  
+<group ns="rtabmap">
   <!-- Visualisation RTAB-Map -->
   <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
      <remap from="odom"              to="/stretch_diff_drive_controller/odom"/>
   </node>
 </group>
-</launch>
+</launch>

stretch_rtabmap/launch/rviz_rtab.launch

@@ -6,4 +6,4 @@
   <group unless="$(arg mapping)">
     <node pkg="rviz" type="rviz" name="rviz" args="-d $(find stretch_rtabmap)/rviz/rtab_navigation.rviz"/>
   </group>
-</launch>
+</launch>

stretch_rtabmap/launch/start_rtab.launch

@@ -5,7 +5,7 @@
   <arg name="database_path"     default="rtabmap.db"/>
   <arg name="args"              default="-d"/>  <!--Possible arg -d to delete database on startup-->
 
-  <arg name="wait_for_transform"  default="0.2"/> 
+  <arg name="wait_for_transform"  default="0.2"/>
   <arg name="move_base_config"/>
 
 
@@ -26,7 +26,7 @@
       <arg name="localization" value="$(arg localization)"/>
       <arg name="args" value="$(arg args)"/>
       <arg name="database_path"     default="$(arg database_path)"/>
-      <arg name="wait_for_transform"  default="$(arg wait_for_transform)"/> 
+      <arg name="wait_for_transform"  default="$(arg wait_for_transform)"/>
       <arg name="pointcloud_topic" value="$(arg pointcloud_topic)"/>
       <arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
       <arg name="odom_topic" default="$(arg odom_topic)"/>
@@ -53,7 +53,7 @@
       <arg name="localization" value="$(arg localization)"/>
       <arg name="args" value="$(arg args)"/>
       <arg name="database_path"     default="$(arg database_path)"/>
-      <arg name="wait_for_transform"  default="$(arg wait_for_transform)"/> 
+      <arg name="wait_for_transform"  default="$(arg wait_for_transform)"/>
       <arg name="pointcloud_topic" value="$(arg pointcloud_topic)"/>
       <arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
       <arg name="odom_topic" default="$(arg odom_topic)"/>
@@ -62,4 +62,4 @@
       <arg name="rgb_camera_info" default="$(arg rgb_camera_info)"/>
     </include>
   </group>
-</launch>
+</launch>