Change the rate which mapData is publish

[kyap001]

Hi

I will like to know how can I increase the rate at which mapData is published? For now, I know that the data is published at 1Hz. However, I will like to increase the frequency at which it is publishing.

Thanks

Regards
Kelvin

[matlabbe]

Hi Kelvin,

The parameter is Rtabmap/DetectionRate:

<launch>
  <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="Rtabmap/DetectionRate" value="2.0"/> <!-- 2 Hz -->
    ...
  </node>
</launch>

 
cheers,
Mathieu