Where can I find all params meaning?

[oowe]

Hello all,

I am using the RTAB-Map already for a while.

It is a helpful tool for build the map and locate the robot.

Now, I need to tuning the params of RTAB-Map to make my map better.

But,  I am surprised the params of RTAB-Map is very much.

I already search on google, it is not have detail for each params.

where can I find all params meaning?


Thank your help.

[illuvia]

Hello oowe,

You can find them in several places, such us ROS Wiki, ROS Docs or Github.
Or you can simply open your terminal (Ubuntu) and run the following:

rtabmap --params

You can write 'rtabmap --params-all' too but it doesn't work for me.

Cheers,
Iker.

[oowe]

Hello Iker,

thanks a lot.

the command of 'rtabmap --params-all', it also not work for me.

oowe

[matlabbe]

Hi,

"--params-all" doesn't exist anymore, I updated the doc.

To see parameters used by rtabmap and rgbd_odometry nodes:

$ rosrun rtabmap_ros rtabmap --params
$ rosrun rtabmap_ros rgbd_odometry --params

To see all combined parameters:

$ rtabmap --params

Note that these parameters are those used by the RTAB-Map library. For ROS related parameters (synchronization, topic subscription...), see rtabmap_ros page.

cheers,
Mathieu

[oowe]

Hi Mathieu,

Oh, I understand.

thank a lot.

oowe