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.

2026-10-04 16:57:46 +08:00 · 2025-10-19 17:02:25 -07:00
parent 3b5a4ed675
commit 2477bc21c3
20 changed files with 115 additions and 71 deletions
@@ -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),
    ])