Questions about the structure of a launch file.

Posted by Mikor on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Questions-about-the-structure-of-a-launch-file-tp7719.html

Hi Mathiew,

I hope you're doing well. Today I have some questions about the structure of a launch file because I am looking forward to create my own because I feel that it will help me develop my understanding. Also, I create this topic about the creation of the launch file to come back to when I have related questions. So, Let me breakdown the conceptual parts that I think to include in my launch file and please correct me if I am wrong.

So, for starters I am intending to create a launch file that uses scan topic. The conceptual parts are the following:
a) Declare the topics that are going to be used.
b) Create an odometry node.
c) Create the rtabmap node.
d) Create the visualization node.

But I am wondering how the mapping occurs. I get that the rtabmap node is the one that publishes the pointcloud but is not clear to me what parameters to try and experiment with that would affect only the mapping procedure and not the odometry.

Thank you in advance,
Anthony.