Re: Questions about the structure of a launch file.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Questions-about-the-structure-of-a-launch-file-tp7719p7735.html

Hi  Anthony,

If you put parameters inside the tags of a node, only that node will use the parameters, so that odometry and rtabmap ndoes use different parameters.

You can see some examples on this page: http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot

If you want to share RTAB-Map's parameters (those shown with "rtabmap --params") between odometry and rtabmap nodes, I generally use the args parameter:

<arg name="common_params" value="--Icp/VoxelSize 0.05 --Icp/PointToPlane true"/>

<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen" args="$(arg common_params)">
   ...
</node>

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start $(arg common_params)">
   ...
   <param name="Grid/CellSize" value="0.1"/> <!-- just for this node -->
</node>

cheers,
Mathieu