Re: Setting parameters (Parameters read = 0)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Setting-parameters-Parameters-read-0-tp7398p7401.html

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