Trouble setting params

[ryleymcc]

I am trying to set force3dof true but I am seeing contradicting evidence that it is and isn't being set. in the first picture the graph has a changing z. If i don't deviate from the default rtabmap.launch file and dont't set any params everything works but i just thought i could improve performance if i could adjust params. Im using a d435i and t265.

i followed this tutorial. I cant find the config.ini file you reference on ubuntu 20

this is my launch file.

  <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="true"/>
    <arg name="visual_odometry" value="false"/>    <!--i get errors when set to true-->
    <arg name="localization" value="false"/>
    <arg name="rtabmap_args" default="--Odom/Strategy 1 --Reg/Force3DoF true"/> 

i also added this from the tutorial to the rtabmap.launch file

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
        <param name="Reg/Force3DoF"    value="true" />
</node>

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
        <param name="Reg/Force3DoF"    value="true" />
        <param name="Optimizer/Slam2D" value="true" />
</node>

[matlabbe]

If the input odomerty is 6DoF (from T265), we don't remove the z value. Reg/Force3DoF will force graph optimization to be 3DoF, but if poses are 6DoF, they will keep their z values.

If you start only D400 (without T265) and visual_odometry:=true, rgbd_odometry output would not have z values.

[ryleymcc]

OK i understand. Thank you