Re: what is the function of slam2d

Posted by Masoumeh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/what-is-the-function-of-slam2d-tp8697p8825.html

when i activate icp-odometry, guess_frame_id is also activated.

 it is the setting that hase been defined in https://github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_husky.launch

in the main launch file (https://github.com/introlab/rtabmap_ros/blob/master/launch/rtabmap.launch) it has been set:
param name="guess_frame_id"    type="string" value="$(arg odom_guess_frame_id)"

and when i activate icp_odometry, guess_fame_id is activated as well, because:
(pay attention to the second line in the following part)
 
    <arg if="$(arg icp_odometry)" name="icp_odometry" value="true" />
    <arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" />
    <arg if="$(arg icp_odometry)" name="vo_frame_id" value="icp_odom" />
    <arg unless="$(arg slam2d)"   name="wait_imu_to_init" value="true" />
    <arg if="$(arg lidar3d)"      name="odom_args" value="--Icp/CorrespondenceRatio 0.01"/>

How can i identify that two topics are publishing the same thing??

Thanks a lot