• launch/test_use_odom_features.launch
  • • frame_id [default: camera_link]
    • rtabmap_args [default: --delete_db_on_start]
    • odom_args [default: $(arg rtabmap_args)]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
• launch/test_pointxyzrgb.launch
• launch/test_apriltag_ros.launch
  • • camera_frame_id [default: camera_color_optical_frame]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • camera_info_topic [default: /camera/rgb/camera_info]
• launch/test_ouster_gen2.launch
  • • use_sim_time [default: false]
    • sensor_hostname
    • udp_dest
    • frame_id [default: os_sensor]
    • rtabmap_viz [default: true]
    • deskewing [default: true]
    • slerp [default: false]
    • scan_20_hz [default: true]
    • voxel_size [default: 0.15]
    • assemble [default: false]
    • ptp [default: false]
    • imu_topic [default: /os_cloud_node/imu]
    • scan_topic [default: /os_cloud_node/points]
    • wait_for_transform [default: 0.01]
    • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
    • scan_topic_deskewed [default: $(arg scan_topic)]
• launch/euroc_datasets.launch
  • • feature_type [default: 6]
    • gravity_opt [default: false]
    • args [default: ]
    • common_args [default: -d --RGBD/CreateOccupancyGrid false --Odom/FeatureType $(arg feature_type) --Kp/DetectorStrategy $(arg feature_type) --Optimizer/GravitySigma 0.3 $(arg args)]
    • common_args [default: -d --RGBD/CreateOccupancyGrid false --Odom/FeatureType $(arg feature_type) --Kp/DetectorStrategy $(arg feature_type) $(arg args) ]
    • cfg [default: ]
    • MH_seq [default: false]
    • raw_images_for_odom [default: false]
    • record_ground_truth [default: false]
    • rtabmap_viz [default: true]
    • rviz [default: false]
• launch/test_icp_odometry.launch
  • • rgbd [default: false]
    • pm [default: false]
    • nodelet [default: false]
• launch/test_map_assembler.launch
• launch/test_laser_assembler.launch
  • • rtabmap_args [default: --delete_db_on_start --Rtabmap/DetectionRate 0 --RGBD/ProximityBySpace false --RGBD/LinearUpdate 0 --RGBD/AngularUpdate 0 --RGBD/ProximityPathMaxNeighbors 0]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
    • rtabmap_viz [default: true]
    • rviz [default: false]
• launch/sensor_fusion.launch
  • • frame_id [default: base_link]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
    • imu_topic [default: /imu/data]
    • imu_ignore_acc [default: true]
    • imu_remove_gravitational_acceleration [default: true]
    • localization [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/test_ouster.launch
  • • use_sim_time [default: false]
    • os1_hostname
    • os1_udp_dest
    • frame_id [default: os1_sensor]
    • rtabmap_viz [default: true]
    • scan_20_hz [default: true]
• launch/test_obstacles_detection.launch
• launch/test_rtabmap_nodelets.launch
  • • frame_id [default: camera_link]
    • rtabmap_args [default: --delete_db_on_start]
    • odom_args [default: $(arg rtabmap_args)]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
• launch/bumblebee.launch
  • • gen_depth [default: false]
• launch/test_velodyne.launch
  • • rtabmap_viz [default: true]
    • use_imu [default: false]
    • imu_topic [default: /imu/data]
    • scan_20_hz [default: false]
    • deskewing [default: true]
    • slerp [default: false]
    • organize_cloud [default: $(arg deskewing)]
    • scan_topic [default: /velodyne_points]
    • use_sim_time [default: false]
    • frame_id [default: velodyne]
    • queue_size [default: 10]
    • queue_size_odom [default: 1]
    • loop_ratio [default: 0.2]
    • resolution [default: 0.05]
    • iterations [default: 10]
    • ground_is_obstacle [default: true]
    • grid_max_range [default: 20]
    • ground_normals_up [default: false]
    • local_map_size [default: 15000]
    • key_frame_thr [default: 0.4]
    • floam [default: false]
    • floam_sensor [default: 0]
• launch/test_velodyne_t265_deskewing.launch
  • • rtabmap_viz [default: true]
    • scan_20_hz [default: false]
    • deskewing [default: true]
    • slerp [default: false]
    • scan_topic [default: /velodyne_points]
    • use_sim_time [default: false]
    • odom_frame_id [default: t265_odom_frame]
    • frame_id [default: velodyne]
    • queue_size [default: 10]
    • queue_size_odom [default: 1]
    • loop_ratio [default: 0.2]
    • resolution [default: 0.05]
    • iterations [default: 10]
    • ground_is_obstacle [default: true]
    • grid_max_range [default: 20]
    • ground_normals_up [default: false]
    • local_map_size [default: 15000]
    • key_frame_thr [default: 0.4]
    • floam [default: false]
    • floam_sensor [default: 0]
    • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
    • scan_topic_deskewed [default: $(arg scan_topic)]
• launch/test_two_kinects_one_map.launch
• launch/rgbdslam_datasets.launch
  • • rviz [default: true]
    • rtabmap_viz [default: false]
• launch/test_undistort_depth.launch
  • • depth [default: /camera/depth_registered/image_raw]
    • model [default: $(find rtabmap_examples)/launch/config/distortion_model_PS1080.bin]
• launch/test_rgbd_image.launch
  • • compressed [default: false]
    • compressed_rate [default: 0]
• launch/test_velodyne_d435i_deskewing.launch
  • • rtabmap_viz [default: true]
    • scan_20_hz [default: false]
    • deskewing [default: true]
    • slerp [default: false]
    • scan_topic [default: /velodyne_points]
    • use_sim_time [default: false]
    • imu_topic [default: /camera/imu]
    • frame_id [default: velodyne]
    • queue_size [default: 10]
    • queue_size_odom [default: 1]
    • loop_ratio [default: 0.2]
    • resolution [default: 0.05]
    • iterations [default: 10]
    • ground_is_obstacle [default: true]
    • grid_max_range [default: 20]
    • ground_normals_up [default: false]
    • local_map_size [default: 15000]
    • key_frame_thr [default: 0.4]
    • floam [default: false]
    • floam_sensor [default: 0]
    • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
    • scan_topic_deskewed [default: $(arg scan_topic)]
• launch/sensor_fusion_kinect_brick.launch
  • • localization [default: false]
    • uid
• launch/test_d435i_vio.launch
  • • rtabmap_viz [default: true]
    • rviz [default: false]
    • depth_mode [default: true]
    • odom_strategy [default: 9]
    • unite_imu_method [default: copy]
• launch/test_map_optimizer.launch
• launch/test_prior.launch
  • • rviz [default: true]
    • rtabmap_viz [default: false]
• launch/test_k4a_cloud_only.launch
  • • rtabmap_viz [default: true]
• launch/test_sensor_data.launch
  • Examples with OAK-D camera. $ roslaunch depthai_examples stereo_inertial_node.launch depth_aligned:=false $ rosrun imu_filter_madgwick imu_filter_node \ imu/data_raw:=/stereo_inertial_publisher/imu \ imu/data:=/stereo_inertial_publisher/imu/data \ _use_mag:=false \ _publish_tf:=false Stereo: $ roslaunch rtabmap_examples test_sensor_data.launch \ stereo:=true \ left_topic:=/stereo_inertial_publisher/left/image_rect \ right_topic:=/stereo_inertial_publisher/right/image_rect \ left_info_topic:=/stereo_inertial_publisher/left/camera_info \ right_info_topic:=/stereo_inertial_publisher/right/camera_info \ imu_topic:=/stereo_inertial_publisher/imu/data \ frame_id:=oak-d_frame \ approx_sync:=true \ approx_sync_max_interval:=0.001 \ wait_imu_to_init:=true RGB-D: $ roslaunch rtabmap_examples test_sensor_data.launch \ rgb_topic:=/stereo_inertial_publisher/right/image_rect \ depth_topic:=/stereo_inertial_publisher/stereo/depth \ camera_info_topic:=/stereo_inertial_publisher/right/camera_info \ imu_topic:=/stereo_inertial_publisher/imu/data \ frame_id:=oak-d_frame \ approx_sync:=true \ approx_sync_max_interval:=0.001 \ wait_imu_to_init:=true
  • • features_only [default: false]
    • compression_format [default: .jpg]
    • parallel_compression [default: true]
    • use_nodelets [default: true]
    • stereo [default: false]
    • frame_id [default: camera_link]
    • rtabmap_args [default: --delete_db_on_start --logconsole]
    • odom_args [default: $(arg rtabmap_args)]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
    • left_topic [default: /camera/left/image_rect]
    • right_topic [default: /camera/right/image_rect]
    • left_info_topic [default: /camera/left/camera_info]
    • right_info_topic [default: /camera/right/camera_info]
    • imu_topic [default: /imu/data]
    • wait_imu_to_init [default: false]
    • approx_sync [default: $(eval not stereo)]
    • approx_sync_max_interval [default: 0]
• launch/usyd_dataset.launch
  • • rtabmap_viz [default: true]
    • deskewing [default: true]
    • cameras [default: false]
    • resolution [default: 0.5]
    • local_map_size [default: 10000]
    • key_frame_thr [default: 0.5]
    • database_path [default: ~/.ros/rtabmap.db]
    • append [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: -d]
    • scan_topic_deskewed [default: $(arg scan_topic)/deskewed]
    • scan_topic_deskewed [default: $(arg scan_topic)]

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