Re: ros-noetic usage

Posted by xantho on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ros-noetic-usage-tp9609p9614.html

ok, so I modify my launch file as follows but when I launch it does not seem to read the correct launch file?

<?xml version="1.0"?>
<launch>

  <!-- This launch assumes that you have already
       started you preferred RGB-D sensor and your IMU.
       TF between frame_id and the sensors should already be set too. -->

  <arg name="frame_id"                default="base_link" />
  <arg name="rgb_topic"               default="/camera/color/image_raw" />
  <arg name="depth_topic"             default="/camera/aligned_depth_to_color/image_raw" />
  <arg name="camera_info_topic"       default="/camera/color/camera_info" />
  <arg name="imu_topic"               default="/imu/data" />
  <arg name="imu_ignore_acc"          default="true" />
  <arg name="imu_remove_gravitational_acceleration" default="true" />
  <h3><arg name="queue_size"              default="20"/></h3>
  
  <!-- Choose visualization -->
  <arg name="rtabmap_viz"             default="true" />

  <!-- Localization-only mode -->
  <arg name="localization"      default="false"/>
  <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
  <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>

  <group ns="rtabmap">
    <!-- Visual Odometry -->
    <node pkg="rtabmap_odom" type="rgbd_odometry" name="visual_odometry" output="screen" args="$(arg rtabmap_args)">
      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      <remap from="odom"            to="/vo"/>

      <param name="frame_id"               type="string" value="$(arg frame_id)"/>
      <param name="publish_tf"             type="bool"   value="false"/>
      <param name="publish_null_when_lost" type="bool"   value="true"/>
      <param name="guess_from_tf"          type="bool"   value="true"/>

      <param name="Odom/FillInfoData"      type="string" value="true"/>
      <param name="Odom/ResetCountdown"    type="string" value="1"/>
      <param name="Vis/FeatureType"        type="string" value="6"/>
      <param name="OdomF2M/MaxSize"        type="string" value="1000"/>
    </node>

    <!-- SLAM -->
    <node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
      <param name="frame_id"        type="string" value="$(arg frame_id)"/>

      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      <remap from="odom"            to="/odometry/filtered"/>

      <param name="Kp/DetectorStrategy"    type="string" value="6"/> <!-- use same features as odom -->

      <!-- localization mode -->
      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>

    </node>
  </group>

  <!-- Odometry fusion (EKF), refer to demo launch file in robot_localization for more info -->
  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">

      <param name="frequency" value="50"/>
      <param name="sensor_timeout" value="0.1"/>
      <param name="two_d_mode" value="false"/>

      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="$(arg frame_id)"/>
      <param name="world_frame" value="odom"/>

      <param name="transform_time_offset" value="0.0"/>

      <param name="odom0" value="/vo"/>
      <param name="imu0" value="$(arg imu_topic)"/>

      <!-- The order of the values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. -->
      <rosparam param="odom0_config">[true, true, true,
                                      false, false, false,
                                      true, true, true,
                                      false, false, false,
                                      false, false, false]</rosparam>

      <rosparam     if="$(arg imu_ignore_acc)" param="imu0_config">[
                                     false, false, false,
                                     true,  true,  true,
                                     false, false, false,
                                     true,  true,  true,
                                     false,  false,  false] </rosparam>
      <rosparam unless="$(arg imu_ignore_acc)" param="imu0_config">[
                                     false, false, false,
                                     true,  true,  true,
                                     false, false, false,
                                     true,  true,  true,
                                     true,  true,  true] </rosparam>

      <param name="odom0_differential" value="false"/>
      <param name="imu0_differential" value="false"/>

      <param name="odom0_relative" value="true"/>
      <param name="imu0_relative" value="true"/>

      <param name="imu0_remove_gravitational_acceleration" value="$(arg imu_remove_gravitational_acceleration)"/>

      <param name="print_diagnostics" value="true"/>

      <!-- ======== ADVANCED PARAMETERS ======== -->
      <param name="odom0_queue_size" value="5"/>
      <param name="imu0_queue_size" value="50"/>

    </node>
</launch>

but in terminal it shows:

[ INFO] [1691696617.543206171]: /rtabmap/rtabmap: queue_size    = 10