Re: How to add keyframe when RTABMap is built?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-add-keyframe-when-RTABMap-is-built-tp506p4972.html

It is in the odomUpdate() or odomTFUpdate() functions here and here.

The rate can be set with parameter Rtabmap/DetectionRate:

<node pkg="rtabmap_ros" type="rtabmap" ...
   <param name="Rtabmap/DetectionRate" value="1.0"/> <!-- Hz -->
   ...