Checking if ORBSLAM2 is operating in RTAB-Map

[koba]

I succeeded in building RTAB-Map into ORBSLAM2 referring to this forum.
Is there a way to check that ORBSLAM2 is working with RTAB-Map?
Which part of ORBSLAM2 is incorporated as RTAB-Map? (Is it only odometry)

[matlabbe]

Yes, only visual odometry is integrated. You can select the odometry approach by setting Preferences->Odometry->Odometry Strategy to ORB_SLAM2 and set ORB_SLAM2 vocabulary path below, or set parameters Odom/Strategy=5 and OdomORBSLAM2/VocPath.

cheers,
Mathieu

[koba]

Thank you for your reply.

"Preferences-> Odometry-> Odometry" could not be manipulated.

Is there a way to clear this condition?

I look forward to your reply.
Best regards.

[matlabbe]

Ah ok you are on ROS. Odometry parameters should be set when launching the odometry node, they cannot be modified by rtabmapviz. For example when using rtabmap.launch:

$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Odom/Srategy 5" 

cheers,
Mathieu

[koba]

You’ve really helped me out here. Thanks so much!