Proper way to add parameters

[johnny_wa]

Hello,

I would like to auto-reset odometry when it's lost, and I followed the tutorial to add the parameters. The way I did it is to get a copy or rtabmap.launch and then add:

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
       
<node/>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
       
<node/>

on the very bottom (In between the final </node> and </launch>). However, it doesn't look like the parameters made a difference. I would like to know what is the proper way to add these parameters?

[matlabbe]

You should add it in inside rgbd_odometry tags:

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
    <param name="Odom/ResetCountdown" value="1"/>
</node>

Or without changing rtabmap.launch, just call it like this:

$ roslaunch rtabmap_ros rtabmap.launch odom_args:="--Odom/ResetCountdown 1" ...

cheers,
Mathieu