From 8a42c9586b6e9823b2c8e9d253b54844ce015826 Mon Sep 17 00:00:00 2001
From: Paul Bovbel <pbovbel@clearpathrobotics.com>
Date: Sun, 18 Jan 2015 11:45:12 -0500
Subject: [PATCH] Set parameters in sample launch files to default

---
 pointcloud_to_laserscan/launch/sample_node.launch    | 4 ++--
 pointcloud_to_laserscan/launch/sample_nodelet.launch | 3 ++-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/pointcloud_to_laserscan/launch/sample_node.launch b/pointcloud_to_laserscan/launch/sample_node.launch
index 3336a3b9..d5ca6c35 100644
--- a/pointcloud_to_laserscan/launch/sample_node.launch
+++ b/pointcloud_to_laserscan/launch/sample_node.launch
@@ -15,8 +15,8 @@
         <remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
         <remap from="scan" to="$(arg camera)/scan"/>
         <rosparam>
-            target_frame: base_link # Leave empty for no transform
-            transform_tolerance: 1.0
+            #target_frame: # Leave disabled to output scan in pointcloud frame
+            transform_tolerance: 0.0
             min_height: 0.0
             max_height: 1.0
 
diff --git a/pointcloud_to_laserscan/launch/sample_nodelet.launch b/pointcloud_to_laserscan/launch/sample_nodelet.launch
index 45027f8a..79496023 100644
--- a/pointcloud_to_laserscan/launch/sample_nodelet.launch
+++ b/pointcloud_to_laserscan/launch/sample_nodelet.launch
@@ -15,7 +15,8 @@
         <remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
         <remap from="scan" to="$(arg camera)/scan"/>
         <rosparam>
-            target_frame: base_link # Leave empty for no transform
+            #target_frame: # Leave disabled to output scan in pointcloud frame
+            transform_tolerance: 0.0
             min_height: 0.0
             max_height: 1.0