Making odometry's services private (under odometry node namespace) like rtabmap node instead of being global. For example, "reset_odom" will be under "rgbd_odometry/reset_odom". Added new parameter for rtabmap_viz to call correctly odometry services, with "odometry_node_name" set to "rgbd_odometry" by default.

rtabmap_demos/launch/husky/husky_slam2d.launch.py

@@ -123,6 +123,7 @@ def generate_launch_description():
         Node(
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',
             namespace=robot_ns,
-            parameters=[rtabmap_parameters, shared_parameters],
+            parameters=[rtabmap_parameters, shared_parameters,
+                        {"odometry_node_name": "icp_odometry"}],
             remappings=remappings),
     ])

rtabmap_demos/launch/husky/husky_slam3d.launch.py

@@ -141,6 +141,7 @@ def generate_launch_description():
         Node(
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',
             namespace=robot_ns,
-            parameters=[rtabmap_parameters, shared_parameters],
+            parameters=[rtabmap_parameters, shared_parameters,
+                        {"odometry_node_name": "icp_odometry"}],
             remappings=remappings),
     ])

rtabmap_demos/launch/husky/husky_slam3d_assemble.launch.py

@@ -129,6 +129,7 @@ def generate_launch_description():
         Node(
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',
             namespace=robot_ns,
-            parameters=[rtabmap_parameters, shared_parameters],
+            parameters=[rtabmap_parameters, shared_parameters,
+                        {"odometry_node_name": "icp_odometry"}],
             remappings=remappings + [('scan_cloud', 'sensors/lidar3d_0/points')]),
     ])

rtabmap_demos/launch/isaac/isaac_vslam.launch.py

@@ -103,7 +103,8 @@ def launch_setup(context, *args, **kwargs):
             condition=IfCondition(rtabmap_viz),
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',
             namespace='rtabmap',
-            parameters=[parameters],
+            parameters=[parameters,
+                        {"odometry_node_name": vo_node_prefix+'_odometry'}],
             remappings=remappings),
     ]
 

rtabmap_demos/launch/stereo_outdoor_demo.launch.py

@@ -141,7 +141,8 @@ def generate_launch_description():
         Node(
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',
             condition=IfCondition(LaunchConfiguration("rtabmap_viz")),
-            parameters=[parameters],
+            parameters=[parameters,
+                        {"odometry_node_name": 'stereo_odometry'}],
             remappings=remappings),
         Node(
             package='rviz2', executable='rviz2', name="rviz2", output='screen',

rtabmap_demos/launch/turtlebot3/turtlebot3_rgbd.launch.py

@@ -65,7 +65,7 @@ def generate_launch_description():
             package='rtabmap_slam', executable='rtabmap', output='screen',
             parameters=[parameters],
             remappings=remappings,
-            arguments=['-d']), # This will delete the previous database (~/.ros/rtabmap.db)
+            arguments=['-d', '--udebug']), # This will delete the previous database (~/.ros/rtabmap.db)
             
         # Localization mode:
         Node(

rtabmap_demos/launch/turtlebot3/turtlebot3_scan.launch.py

@@ -76,7 +76,8 @@ def launch_setup(context, *args, **kwargs):
         # Visualization
         Node(
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',
-            parameters=[parameters],
+            parameters=[parameters,
+                        {"odometry_node_name": 'icp_odometry'}],
             remappings=remappings),
     ]
 

rtabmap_demos/launch/turtlebot4/turtlebot4_slam.launch.py

@@ -114,6 +114,7 @@ def generate_launch_description():
         Node(
             condition=IfCondition(rtabmap_viz),
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',
-            parameters=[rtabmap_parameters, shared_parameters],
+            parameters=[rtabmap_parameters, shared_parameters,
+                        {"odometry_node_name": 'icp_odometry'}],
             remappings=remappings),
     ])