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_examples/launch/euroc_datasets.launch.py

@@ -83,7 +83,8 @@ def generate_launch_description():
 
         Node(
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',
-            parameters=[parameters],
+            parameters=[parameters,
+                        {'odometry_node_name': "stereo_odometry"}],
             remappings=remappings),
         
         # Image rectification and publishing synchronized camera_info

rtabmap_examples/launch/lidar3d.launch.py

@@ -154,7 +154,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
   
     Node(
       package='rtabmap_viz', executable='rtabmap_viz', output='screen',
-      parameters=[shared_parameters, rtabmap_parameters],
+      parameters=[shared_parameters, rtabmap_parameters,
+                  {'odometry_node_name': "icp_odometry"}],
       remappings=remappings + [('scan_cloud', 'odom_filtered_input_scan')])
   ]
   

rtabmap_examples/launch/lidar3d_assemble.launch.py

@@ -173,7 +173,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
     # Just for visualization
     Node(
       package='rtabmap_viz', executable='rtabmap_viz', output='screen',
-      parameters=[shared_parameters, rtabmap_parameters],
+      parameters=[shared_parameters, rtabmap_parameters,
+                  {'odometry_node_name': "icp_odometry"}],
       remappings=remappings + [('scan_cloud', viz_topic)])
   ]
   

rtabmap_examples/launch/lidar3d_assemble_x2.launch.py

@@ -201,7 +201,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
     # Just for visualization
     Node(
       package='rtabmap_viz', executable='rtabmap_viz', output='screen',
-      parameters=[shared_parameters, rtabmap_parameters],
+      parameters=[shared_parameters, rtabmap_parameters,
+                  {'odometry_node_name': "icp_odometry"}],
       remappings=remappings + [('scan_cloud', viz_topic)])
   ]
   

rtabmap_examples/launch/realsense_d435i_color.launch.py

@@ -37,6 +37,15 @@ def generate_launch_description():
 
         # Make sure IR emitter is enabled
         SetParameter(name='depth_module.emitter_enabled', value=1),
+        
+        DeclareLaunchArgument(
+            'args', default_value='',
+            description='Extra arguments set to rtabmap and odometry nodes.'),
+        
+        DeclareLaunchArgument(
+            'odom_args', default_value='',
+            description='Extra arguments just for odometry node. If the same argument is already set in \"args\", it will be overwritten by the one in \"odom_args\".'),
+
 
         # Launch camera driver
         IncludeLaunchDescription(
@@ -55,13 +64,14 @@ def generate_launch_description():
         Node(
             package='rtabmap_odom', executable='rgbd_odometry', output='screen',
             parameters=parameters,
+            arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
             remappings=remappings),
 
         Node(
             package='rtabmap_slam', executable='rtabmap', output='screen',
             parameters=parameters,
             remappings=remappings,
-            arguments=['-d']),
+            arguments=['-d', LaunchConfiguration("args")]),
 
         Node(
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',

rtabmap_examples/launch/realsense_d435i_infra.launch.py

@@ -35,6 +35,14 @@ def generate_launch_description():
         DeclareLaunchArgument(
             'unite_imu_method', default_value='2',
             description='0-None, 1-copy, 2-linear_interpolation. Use unite_imu_method:="1" if imu topics stop being published.'),
+        
+        DeclareLaunchArgument(
+            'args', default_value='',
+            description='Extra arguments set to rtabmap and odometry nodes.'),
+        
+        DeclareLaunchArgument(
+            'odom_args', default_value='',
+            description='Extra arguments just for odometry node. If the same argument is already set in \"args\", it will be overwritten by the one in \"odom_args\".'),
 
         #Hack to disable IR emitter
         SetParameter(name='depth_module.emitter_enabled', value=0),
@@ -56,13 +64,14 @@ def generate_launch_description():
         Node(
             package='rtabmap_odom', executable='rgbd_odometry', output='screen',
             parameters=parameters,
+            arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
             remappings=remappings),
 
         Node(
             package='rtabmap_slam', executable='rtabmap', output='screen',
             parameters=parameters,
             remappings=remappings,
-            arguments=['-d']),
+            arguments=['-d', LaunchConfiguration("args")]),
 
         Node(
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',

rtabmap_examples/launch/realsense_d435i_stereo.launch.py

@@ -16,11 +16,11 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 
 def generate_launch_description():
-    parameters=[{
+    parameters={
           'frame_id':'camera_link',
           'subscribe_stereo':True,
           'subscribe_odom_info':True,
-          'wait_imu_to_init':True}]
+          'wait_imu_to_init':True}
 
     remappings=[
           ('imu', '/imu/data'),
@@ -38,6 +38,15 @@ def generate_launch_description():
 
         #Hack to disable IR emitter
         SetParameter(name='depth_module.emitter_enabled', value=0),
+        
+        DeclareLaunchArgument(
+            'args', default_value='',
+            description='Extra arguments set to rtabmap and odometry nodes.'),
+        
+        DeclareLaunchArgument(
+            'odom_args', default_value='',
+            description='Extra arguments just for odometry node. If the same argument is already set in \"args\", it will be overwritten by the one in \"odom_args\".'),
+
 
         # Launch camera driver
         IncludeLaunchDescription(
@@ -55,18 +64,20 @@ def generate_launch_description():
 
         Node(
             package='rtabmap_odom', executable='stereo_odometry', output='screen',
-            parameters=parameters,
+            parameters=[parameters],
+            arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
             remappings=remappings),
 
         Node(
             package='rtabmap_slam', executable='rtabmap', output='screen',
-            parameters=parameters,
+            parameters=[parameters],
             remappings=remappings,
-            arguments=['-d']),
+            arguments=['-d', LaunchConfiguration("args")]),
 
         Node(
             package='rtabmap_viz', executable='rtabmap_viz', output='screen',
-            parameters=parameters,
+            parameters=[parameters,
+                        {'odometry_node_name': "stereo_odometry"}],
             remappings=remappings),
                 
         # Compute quaternion of the IMU