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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.

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matlabbe
2025-10-19 17:02:25 -07:00
parent 3b5a4ed675
commit 2477bc21c3
20 changed files with 115 additions and 71 deletions
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rtabmap_examples/launch/lidar3d_assemble_x2.launch.py
+2 -1
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@@ -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)])
]