script works

bag/generate_trajectory_csv.bash

 #!/bin/bash
-echo "Press CTRL+C to proceed."
-trap "pkill -f 'sleep 1h'" INT
-trap "set +x ; sleep 1h ; set -x" DEBUG
+#echo "Press CTRL+C to proceed."
+#trap "pkill -f 'sleep 1h'" INT
+#trap "set +x ; sleep 1h ; set -x" DEBUG
 
 if [[ -z "${BAG}" ]]
 then
@@ -13,6 +13,7 @@ fi
 #   Starting with E ==> experiment, we extract the poses
 for yamlfile in $(find ../yaml/trajectory_analysys -maxdepth 1 -type f -printf "%f\n")
 do
+  rm recordings/trajectory_recording$yamlname.bag
   yamlname=${yamlfile%.*}
   roslaunch wolf_demo_imu2d imu2d_analysys.launch bag:=$BAG\_filtered_notf test:=$yamlfile speed:=1 suffix:=$yamlname
   if [[ ${yamlname:0:1} == 'G' ]]

yaml/trajectory_analysys/G-1_0.yaml

@@ -41,13 +41,14 @@ config:
       name: "processorodomicp"
       sensor_name: "scanner_front_left"
       plugin: "laser"
-      voting_active: true
-      min_features_for_keyframe: 10
-      min_dist: 999
-      min_angle: 999
-      min_time: 1
-      min_error: 999
-      max_points: 0
+      keyframe_vote:
+        voting_active: true
+        min_features_for_keyframe: 10
+        min_dist: 999
+        min_angle: 999
+        min_time: 1
+        min_error: 999
+        max_points: 0
       follow: "parameters/test_laser_processor.yaml"
         #-
         #  type: "ProcessorLoopClosureIcp"