how are you suppose to use the param tag

asked 2020-11-24 13:46:33 -0500

MisticFury
5 ●8 ●10 ●12

updated 2020-11-24 13:47:08 -0500

im using rtabmap and i think im using the params wrong. where do i need to place them do they need to go inside the node tag like:

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
        <param name="Odom/ResetCountdown"              value="1" />
</node>

or does it need to be outside the node tag like:

<param name="Odom/ResetCountdown"              value="1" />

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
</node>

or do both methods work and if they do whats the different between the 2.

answered 2020-11-24 16:58:44 -0500

matlabbe

6409 ●11 ●96 ●80

This one works:

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
        <param name="Odom/ResetCountdown"              value="1" />
</node>

Log:

...
[ INFO] [1606258509.200716411]: Setting odometry parameter "Odom/ResetCountdown"="1"
...

For rgbd_odometry, those parameters are private. To use the other approach, you should do (prefix with name of the node):

<param name="rgbd_odometry/Odom/ResetCountdown"              value="1" />
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen"/>

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ok i don't understand why but that still doesn't set the parameter and i decided to just rtabmap and do rosparam list and for some reason i don't see any of the odom parameters the 2 im trying to change are Odom/ResetCountdown and Odom/Strategy

MisticFury ( 2020-11-24 19:34:31 -0500 )edit

nvm figured it out

MisticFury ( 2020-11-24 20:05:36 -0500 )edit

rosrun rtabmap_ros rgbd_odometry --params

matlabbe ( 2020-11-25 19:04:13 -0500 )edit

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