Setting parameters (Parameters read = 0)

[ryleymcc]

This is my launch file.

<launch>
  <include file="$(find realsense2_camera)/launch/rs_d400_and_t265.launch" />
  <include file="$(find rtabmap_ros)/launch/rtabmap.launch"  >
    <arg name="odom_topic" value="/t265/odom/sample"/>
    <arg name="frame_id" value="t265_link"/>
    <arg name="rgbd_sync" value="true"/>
    <arg name="depth_topic" value="/d400/aligned_depth_to_color/image_raw"/>
    <arg name="rgb_topic" value="/d400/color/image_raw"/>
    <arg name="camera_info_topic" value="/d400/color/camera_info"/>
    <arg name="approx_rgbd_sync" value="false"/>
    <arg name="visual_odometry" value="false"/>
    <param name="Reg/Strategy" type="string" value="0"/> 
    <param name="Mem/UseOdomGravity" value="true"/>
    <param name="Optimizer/GravitySigma" value="0.3"/>
    <param name="Grid/MaxGroundHeight" type="string" value="0.2"/>       <!-- all points below 20 cm are ground -->
    <param name="Grid/MaxObstacleHeight" type="string" value="2"/>       <!-- all points above 20 cm and below 2 m are obstacles -->
    <param name="Grid/NormalsSegmentation" type="string" value="false"/> <!-- Use simple passthrough to filter the ground instead of normals segmentation -->
  </include>
  
</launch>

When I launch it I get a long list of parameters that cant be found. The parameters I set in the launch file above are all not found.

Parameter Reg/Strategy not found
Parameter Optimizer/GravitySigma not found
Parameter Mem/UseOdomGravity not found
Parameter Grid/MaxGroundHeight not found
Parameter Grid/MaxObstacleHeight not found

Everything seems to work but I'm trying to optimize. What am I doing wrong? I can share my src on google drive.

(ps. for some reason when I post my message here it's removing the  lines and it shows up as blank space in the launch file above.)

[ryleymcc]

I think im figuring it out. parameters are persistent between launches.  I can use rosparam to set the parameters or set them under the rtabmap node.

[matlabbe]

Hi,

When using rtabmap.launch, you cannot set RTAB-Map's parameters like that. For convenience, we added an argument named "rtabmap_args" to feed parameters liek the standalone way (note that this is also how we can delete the default database on start "--delete_db_on_start"):

<launch>
  <include file="$(find realsense2_camera)/launch/rs_d400_and_t265.launch" />
  <include file="$(find rtabmap_ros)/launch/rtabmap.launch"  >
    <arg name="odom_topic" value="/t265/odom/sample"/>
    <arg name="frame_id" value="t265_link"/>
    <arg name="rgbd_sync" value="true"/>
    <arg name="depth_topic" value="/d400/aligned_depth_to_color/image_raw"/>
    <arg name="rgb_topic" value="/d400/color/image_raw"/>
    <arg name="camera_info_topic" value="/d400/color/camera_info"/>
    <arg name="approx_rgbd_sync" value="false"/>
    <arg name="visual_odometry" value="false"/>
    <arg name="rtabmap_args" value=" --delete_db_on_start --Reg/Strategy 0 --Mem/UseOdomGravity true ---Optimizer/GravitySigma 0.3 --Grid/MaxGroundHeight 0.2 --Grid/MaxObstacleHeight 2 --Grid/NormalsSegmentation false"/>
  </include>
  
</launch>

cheers,
Mathieu

[ryleymcc]

Thanks A LOT!