• launch/rtabmap.launch
  • • stereo [default: false]
    • depth [default: false]
    • depth [default: true]
    • subscribe_rgb [default: $(arg depth)]
    • rtabmap_viz [default: true]
    • rviz [default: false]
    • localization [default: false]
    • initial_pose [default: ]
    • loc_thr [default: 0.0]
    • use_sim_time [default: false]
    • cfg [default: ]
    • gui_cfg [default: ~/.ros/rtabmap_gui.ini]
    • rviz_cfg [default: $(find rtabmap_launch)/launch/config/rgbd.rviz]
    • frame_id [default: camera_link]
    • odom_frame_id [default: ]
    • odom_frame_id_init [default: ]
    • map_frame_id [default: map]
    • ground_truth_frame_id [default: ]
    • ground_truth_base_frame_id [default: ]
    • namespace [default: rtabmap]
    • database_path [default: ~/.ros/rtabmap.db]
    • topic_queue_size [default: 1]
    • queue_size [default: 10]
    • sync_queue_size [default: $(arg queue_size)]
    • wait_for_transform [default: 0.2]
    • args [default: ]
    • rtabmap_args [default: $(arg args)]
    • gdb [default: false]
    • launch_prefix [default: xterm -e gdb -q -ex run --args]
    • launch_prefix [default: ]
    • clear_params [default: true]
    • output [default: screen]
    • publish_tf_map [default: true]
    • approx_sync [default: false]
    • approx_sync [default: $(arg depth)]
    • approx_sync_max_interval [default: 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]
    • depth_camera_info_topic [default: $(arg camera_info_topic)]
    • stereo_namespace [default: /stereo_camera]
    • left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
    • right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
    • left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
    • right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
    • rgbd_sync [default: false]
    • approx_rgbd_sync [default: true]
    • subscribe_rgbd [default: $(arg rgbd_sync)]
    • rgbd_topic [default: rgbd_image]
    • depth_scale [default: 1.0]
    • rgbd_depth_scale [default: $(arg depth_scale)]
    • rgbd_decimation [default: 1]
    • compressed [default: false]
    • rgb_image_transport [default: compressed]
    • depth_image_transport [default: compressedDepth]
    • gen_cloud [default: false]
    • gen_cloud_decimation [default: 4]
    • gen_cloud_voxel [default: 0.05]
    • subscribe_scan [default: false]
    • scan_topic [default: /scan]
    • subscribe_scan_cloud [default: $(arg gen_cloud)]
    • scan_cloud_topic [default: /scan_cloud]
    • subscribe_scan_descriptor [default: false]
    • scan_descriptor_topic [default: /scan_descriptor]
    • scan_deskewing [default: false]
    • scan_deskewing_slerp [default: false]
    • scan_cloud_max_points [default: 0]
    • scan_cloud_filtered [default: $(arg scan_deskewing)]
    • gen_scan [default: false]
    • gen_depth [default: false]
    • gen_depth_decimation [default: 1]
    • gen_depth_fill_holes_size [default: 0]
    • gen_depth_fill_iterations [default: 1]
    • gen_depth_fill_holes_error [default: 0.1]
    • visual_odometry [default: true]
    • icp_odometry [default: false]
    • odom_topic [default: odom]
    • vo_frame_id [default: $(arg odom_topic)]
    • publish_tf_odom [default: true]
    • odom_tf_angular_variance [default: 0.001]
    • odom_tf_linear_variance [default: 0.001]
    • odom_args [default: ]
    • odom_sensor_sync [default: false]
    • odom_guess_frame_id [default: ]
    • odom_guess_min_translation [default: 0]
    • odom_guess_min_rotation [default: 0]
    • odom_max_rate [default: 0]
    • odom_expected_rate [default: 0]
    • imu_topic [default: /imu/data]
    • wait_imu_to_init [default: false]
    • use_odom_features [default: false]
    • scan_cloud_assembling [default: false]
    • scan_cloud_assembling_time [default: 1]
    • scan_cloud_assembling_max_clouds [default: 0]
    • scan_cloud_assembling_fixed_frame [default: ]
    • scan_cloud_assembling_voxel_size [default: 0.05]
    • scan_cloud_assembling_range_min [default: 0.0]
    • scan_cloud_assembling_range_max [default: 0.0]
    • scan_cloud_assembling_noise_radius [default: 0.0]
    • scan_cloud_assembling_noise_min_neighbors [default: 5]
    • subscribe_user_data [default: false]
    • user_data_topic [default: /user_data]
    • user_data_async_topic [default: /user_data_async]
    • gps_topic [default: /gps/fix]
    • tag_topic [default: /tag_detections]
    • tag_linear_variance [default: 0.0001]
    • tag_angular_variance [default: 9999]
    • fiducial_topic [default: /fiducial_transforms]
    • rgb_topic_relay [default: $(arg rgb_topic)_relay]
    • rgb_topic_relay [default: $(arg rgb_topic)]
    • depth_topic_relay [default: $(arg depth_topic)_relay]
    • depth_topic_relay [default: $(arg depth_topic)]
    • left_image_topic_relay [default: $(arg left_image_topic)_relay]
    • left_image_topic_relay [default: $(arg left_image_topic)]
    • right_image_topic_relay [default: $(arg right_image_topic)_relay]
    • right_image_topic_relay [default: $(arg right_image_topic)]
    • rgbd_topic_relay [default: $(arg rgbd_topic)]
    • rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
• launch/data_recorder.launch
  • • subscribe_odometry [default: false]
    • subscribe_depth [default: true]
    • subscribe_stereo [default: false]
    • subscribe_rgbd [default: false]
    • subscribe_scan [default: false]
    • subscribe_scan_cloud [default: false]
    • approx_sync [default: false]
    • approx_sync [default: true]
    • frame_id [default: camera_link]
    • odom_frame_id [default: ]
    • ground_truth_frame_id [default: ]
    • ground_truth_base_frame_id [default: ]
    • output_path [default: output.db]
    • record_in_RAM [default: false]
    • queue_size [default: 10]
    • max_rate [default: 0]
    • rgb_topic [default: camera/rgb/image_rect_color]
    • rgb_info_topic [default: camera/rgb/camera_info]
    • depth_topic [default: camera/depth_registered/image_raw]
    • left_topic [default: camera/left/image_rect_color]
    • left_info_topic [default: camera/left/camera_info]
    • right_topic [default: camera/right/image_rect]
    • right_info_topic [default: camera/right/camera_info]
    • rgbd_topic [default: camera/rgbd_image]
    • odom_topic [default: odom]
    • scan_topic [default: scan]
    • scan_cloud_topic [default: scan_cloud]
    • rgb_image_transport [default: raw]
    • depth_image_transport [default: raw]

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