Re: RTAB-Map + rosmon is not running twice

Posted by iprob on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-rosmon-is-not-running-twice-tp8373p8505.html

Hi again,

The destructor of the CommonDataSubscriber class does this:

        //clear params
        ros::NodeHandle pnh("~");
        pnh.deleteParam("subscribe_depth");
        pnh.deleteParam("subscribe_laserScan");
        pnh.deleteParam("subscribe_scan");
        pnh.deleteParam("subscribe_scan_cloud");
        pnh.deleteParam("subscribe_stereo");
        pnh.deleteParam("subscribe_rgb");
        pnh.deleteParam("subscribe_rgbd");
        pnh.deleteParam("subscribe_odom_info");
        pnh.deleteParam("subscribe_user_data");
        pnh.deleteParam("odom_frame_id");
        pnh.deleteParam("rgbd_cameras");
        pnh.deleteParam("depth_cameras");
        pnh.deleteParam("queue_size");
        pnh.deleteParam("approx_sync");
        pnh.deleteParam("stereo_approx_sync");

This is the reason why when I relaunch de same node without relaunching the launchfile with the configuration (using rosmon), they are removed and rtabmap doesn't run. A solution would be to add a parameter to choose if those parameters are deleted or not.