Does the main rtabmap node (slam) support nodelet? +extra questions

Posted by wakoko79 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Does-the-main-rtabmap-node-slam-support-nodelet-extra-questions-tp9436.html

We're trying to optimize our system, so we thought making rtabmap use nodelets.

I previously thought that this is OK, but upon reading, I found out that rtabmap (utils, sync, etc) has nodelet support, but it seems the main slam node does not support nodelets?

(1) Am I wrong or am I missing something? Can I load rtabmap_slam as a nodelet?


(2) Another question is the rtabmap odometry a separate process? Or is it just a wrapper for odom settings for the main rtabmap?