Change parameters during runtime for stabilization

[FeKl]

Hi all,

I've a question concerning the stabilization of RTAB-Map.

I know there's the possibility to set some parameters at the beginning of RTAB-Map in order to stabilize the mapping/odometry.

And I know that it is possible to use ros services (e.g. /rtabmap/reset_odom) to interact with RTAB-Map.

Is there also a way to change parameters (e.g. Odom/ResetCountdown, Odom/Strategy, Rtabmap/DetectionRate) during the runtime of RTAB-Map in order to stabilize the mapping/odometry? And would this make sense to to this?

Here I have the dynamic_reconfigure package in my mind.

Kind regards,

Felix

[matlabbe]

Hi Felix,

Back in 2010/2011, instead of using dynamic_reconfigure, we opted for rtabmapviz instead to change rtabmap's parameters. You can change all parameters on runtime.

For odometry nodes, there is no way to change the parameters on runtime. rtabmapviz could be used to do that (you will see right know the Odometry panels are disabled). I opened an issue, I'll take a look soon.

cheers,
Mathieu