merged master->ros2 (new multi_rgbd_inertial_dataset.launch.py example), fixed rtabmap_viz error on exit, fixed default name of rgbdx_sync node, fixed yaml_to_camera_info.py exit exception

.devcontainer/noetic/devcontainer.json

@@ -22,6 +22,10 @@
     },
     "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/catkin_ws/src/rtabmap_ros,type=bind",
     "workspaceFolder": "/home/vscode/catkin_ws",
-    "postCreateCommand": "cd /home/vscode/catkin_ws/src && catkin_init_workspace"
-    //"runArgs": ["--privileged", "--runtime=nvidia", "--network=host"]
+    "postCreateCommand": "cd /home/vscode/catkin_ws/src && catkin_init_workspace",
+    "runArgs": ["--privileged",
+                "--runtime=nvidia",
+                "--env=DISPLAY",
+                "--env=QT_X11_NO_MITSHM=1",
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"]
 }

rtabmap_examples/config/multi_rgbd_inertial_dataset.ini

@@ -0,0 +1,453 @@
+[Core]
+Rtabmap\WorkingDirectory=/home/vscode/.ros
+
+[Gui]
+AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10\0\0\0\0\0\0\0\0\a\x80\0\0\0\0\0\0\0/\0\0\x2\xf7\0\0\x3\x10)
+DepthCalibrationDialog\bin_depth=2
+DepthCalibrationDialog\bin_height=6
+DepthCalibrationDialog\bin_width=8
+DepthCalibrationDialog\cone_radius=0.02
+DepthCalibrationDialog\cone_stddev_thresh=0.1
+DepthCalibrationDialog\decimation=1
+DepthCalibrationDialog\laser_scan=false
+DepthCalibrationDialog\max_depth=3.5
+DepthCalibrationDialog\max_model_depth=10
+DepthCalibrationDialog\min_depth=0
+DepthCalibrationDialog\smoothing=1
+DepthCalibrationDialog\voxel=0.01
+ExportBundlerDialog\exportPoints=false
+ExportBundlerDialog\laplacianThr=0
+ExportBundlerDialog\maxAngularSpeed=0
+ExportBundlerDialog\maxLinearSpeed=0
+ExportBundlerDialog\sba_iterations=20
+ExportBundlerDialog\sba_rematch_features=true
+ExportBundlerDialog\sba_type=0
+ExportBundlerDialog\sba_variance=1
+ExportCloudsDialog\assemble=true
+ExportCloudsDialog\assemble_samples=0
+ExportCloudsDialog\assemble_voxel=0.01
+ExportCloudsDialog\bilateral=false
+ExportCloudsDialog\bilateral_sigma_r=0.1
+ExportCloudsDialog\bilateral_sigma_s=10
+ExportCloudsDialog\binary=true
+ExportCloudsDialog\cam_proj=false
+ExportCloudsDialog\cam_proj_decimation=1
+ExportCloudsDialog\cam_proj_distance_policy=true
+ExportCloudsDialog\cam_proj_export_format=0
+ExportCloudsDialog\cam_proj_keep_points=false
+ExportCloudsDialog\cam_proj_mask=
+ExportCloudsDialog\cam_proj_max_angle=0
+ExportCloudsDialog\cam_proj_max_depth_error=0
+ExportCloudsDialog\cam_proj_max_distance=0
+ExportCloudsDialog\cam_proj_recolor_points=true
+ExportCloudsDialog\cam_proj_roi_ratios=0.0 0.0 0.0 0.0
+ExportCloudsDialog\cputsdf_flattenRadius=0.005
+ExportCloudsDialog\cputsdf_minWeight=0
+ExportCloudsDialog\cputsdf_randomSplit=1
+ExportCloudsDialog\cputsdf_resolution=0.01
+ExportCloudsDialog\cputsdf_size=12
+ExportCloudsDialog\cputsdf_truncNeg=0.03
+ExportCloudsDialog\cputsdf_truncPos=0.03
+ExportCloudsDialog\filtering=false
+ExportCloudsDialog\filtering_min_neighbors=5
+ExportCloudsDialog\filtering_radius=0
+ExportCloudsDialog\frame=0
+ExportCloudsDialog\from_depth=true
+ExportCloudsDialog\gain=false
+ExportCloudsDialog\gain_beta=10
+ExportCloudsDialog\gain_full=false
+ExportCloudsDialog\gain_overlap=0
+ExportCloudsDialog\gain_radius=0.02
+ExportCloudsDialog\gain_rgb=true
+ExportCloudsDialog\intensity_colormap=0
+ExportCloudsDialog\mesh=false
+ExportCloudsDialog\mesh_angle_tolerance=15
+ExportCloudsDialog\mesh_clean=true
+ExportCloudsDialog\mesh_color_radius=0.05
+ExportCloudsDialog\mesh_decimation_factor=0
+ExportCloudsDialog\mesh_dense_strategy=1
+ExportCloudsDialog\mesh_max_polygons=0
+ExportCloudsDialog\mesh_min_cluster_size=0
+ExportCloudsDialog\mesh_mu=2.5
+ExportCloudsDialog\mesh_quad=false
+ExportCloudsDialog\mesh_radius=0.2
+ExportCloudsDialog\mesh_texture=false
+ExportCloudsDialog\mesh_textureBlending=true
+ExportCloudsDialog\mesh_textureBlendingDecimation=0
+ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=5
+ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0
+ExportCloudsDialog\mesh_textureCameraFiltering=false
+ExportCloudsDialog\mesh_textureCameraFilteringAngle=30
+ExportCloudsDialog\mesh_textureCameraFilteringLaplacian=0
+ExportCloudsDialog\mesh_textureCameraFilteringRadius=0
+ExportCloudsDialog\mesh_textureCameraFilteringVel=0
+ExportCloudsDialog\mesh_textureCameraFilteringVelRad=0
+ExportCloudsDialog\mesh_textureDistanceToCamPolicy=false
+ExportCloudsDialog\mesh_textureExposureFusion=false
+ExportCloudsDialog\mesh_textureFormat=0
+ExportCloudsDialog\mesh_textureMaxAngle=0
+ExportCloudsDialog\mesh_textureMaxCount=1
+ExportCloudsDialog\mesh_textureMaxDepthError=0
+ExportCloudsDialog\mesh_textureMaxDistance=3
+ExportCloudsDialog\mesh_textureMinCluster=50
+ExportCloudsDialog\mesh_textureMultiband=false
+ExportCloudsDialog\mesh_textureMultibandAngleHardThr=90
+ExportCloudsDialog\mesh_textureMultibandBestScoreThr=0.1
+ExportCloudsDialog\mesh_textureMultibandDownScale=2
+ExportCloudsDialog\mesh_textureMultibandFillHoles=false
+ExportCloudsDialog\mesh_textureMultibandForceVisible=false
+ExportCloudsDialog\mesh_textureMultibandNbContrib=1 5 10 0
+ExportCloudsDialog\mesh_textureMultibandPadding=5
+ExportCloudsDialog\mesh_textureMultibandUnwrap=0
+ExportCloudsDialog\mesh_textureRoiRatios=0.0 0.0 0.0 0.0
+ExportCloudsDialog\mesh_textureSize=6
+ExportCloudsDialog\mesh_textureVertexColorPolicy=0
+ExportCloudsDialog\mesh_triangle_size=1
+ExportCloudsDialog\mls=false
+ExportCloudsDialog\mls_dilation_iterations=1
+ExportCloudsDialog\mls_dilation_voxel_size=0.005
+ExportCloudsDialog\mls_output_voxel_size=0
+ExportCloudsDialog\mls_point_density=10
+ExportCloudsDialog\mls_polygonial_order=2
+ExportCloudsDialog\mls_radius=0.04
+ExportCloudsDialog\mls_upsampling_method=0
+ExportCloudsDialog\mls_upsampling_radius=0.01
+ExportCloudsDialog\mls_upsampling_step=0.005
+ExportCloudsDialog\nodes_filtering=false
+ExportCloudsDialog\nodes_filtering_xmax=0
+ExportCloudsDialog\nodes_filtering_xmin=0
+ExportCloudsDialog\nodes_filtering_ymax=0
+ExportCloudsDialog\nodes_filtering_ymin=0
+ExportCloudsDialog\nodes_filtering_zmax=0
+ExportCloudsDialog\nodes_filtering_zmin=0
+ExportCloudsDialog\normals_ground_normals_up=0
+ExportCloudsDialog\normals_k=20
+ExportCloudsDialog\normals_radius=0
+ExportCloudsDialog\openchisel_carving_dist_m=0.05
+ExportCloudsDialog\openchisel_chunk_size_x=16
+ExportCloudsDialog\openchisel_chunk_size_y=16
+ExportCloudsDialog\openchisel_chunk_size_z=16
+ExportCloudsDialog\openchisel_far_plane_dist=1.1
+ExportCloudsDialog\openchisel_integration_weight=1
+ExportCloudsDialog\openchisel_merge_vertices=true
+ExportCloudsDialog\openchisel_near_plane_dist=0.05
+ExportCloudsDialog\openchisel_truncation_constant=0.001504
+ExportCloudsDialog\openchisel_truncation_linear=0.00152
+ExportCloudsDialog\openchisel_truncation_quadratic=0.0019
+ExportCloudsDialog\openchisel_truncation_scale=10
+ExportCloudsDialog\openchisel_use_voxel_carving=false
+ExportCloudsDialog\pipeline=1
+ExportCloudsDialog\poisson_depth=0
+ExportCloudsDialog\poisson_iso=8
+ExportCloudsDialog\poisson_manifold=true
+ExportCloudsDialog\poisson_minDepth=5
+ExportCloudsDialog\poisson_outputPolygons=false
+ExportCloudsDialog\poisson_pointWeight=4
+ExportCloudsDialog\poisson_polygon_size=0.03
+ExportCloudsDialog\poisson_samples=1
+ExportCloudsDialog\poisson_scale=1.1
+ExportCloudsDialog\poisson_solver=8
+ExportCloudsDialog\regenerate=false
+ExportCloudsDialog\regenerate_ceiling=0
+ExportCloudsDialog\regenerate_decimation=1
+ExportCloudsDialog\regenerate_distortion_model=
+ExportCloudsDialog\regenerate_edge_bleeding_error=0
+ExportCloudsDialog\regenerate_fill_error=2
+ExportCloudsDialog\regenerate_fill_size=0
+ExportCloudsDialog\regenerate_floor=0
+ExportCloudsDialog\regenerate_footprint_height=0
+ExportCloudsDialog\regenerate_footprint_length=0
+ExportCloudsDialog\regenerate_footprint_width=0
+ExportCloudsDialog\regenerate_max_depth=4
+ExportCloudsDialog\regenerate_min_depth=0
+ExportCloudsDialog\regenerate_min_depth_confidence=0
+ExportCloudsDialog\regenerate_offaxis_filtering=false
+ExportCloudsDialog\regenerate_offaxis_filtering_angle=10
+ExportCloudsDialog\regenerate_offaxis_filtering_neg_x=true
+ExportCloudsDialog\regenerate_offaxis_filtering_neg_y=true
+ExportCloudsDialog\regenerate_offaxis_filtering_neg_z=true
+ExportCloudsDialog\regenerate_offaxis_filtering_pos_x=true
+ExportCloudsDialog\regenerate_offaxis_filtering_pos_y=true
+ExportCloudsDialog\regenerate_offaxis_filtering_pos_z=true
+ExportCloudsDialog\regenerate_roi=0.0 0.0 0.0 0.0
+ExportCloudsDialog\regenerate_scan_decimation=1
+ExportCloudsDialog\regenerate_scan_max_range=0
+ExportCloudsDialog\regenerate_scan_min_range=0
+ExportCloudsDialog\subtract=false
+ExportCloudsDialog\subtract_min_neighbors=5
+ExportCloudsDialog\subtract_point_angle=0
+ExportCloudsDialog\subtract_point_radius=0.02
+Figures\counts=
+Figures\curves=
+Figures\thresholds=
+General\beep=false
+General\cloudCeilingHeight=0
+General\cloudFiltering=false
+General\cloudFilteringAngle=30
+General\cloudFilteringRadius=0.1
+General\cloudFloorHeight=0
+General\cloudNoiseMinNeighbors=5
+General\cloudNoiseRadius=0
+General\cloudVoxel=0
+General\cloudsKept=true
+General\colorScheme0=0
+General\colorScheme1=0
+General\colorSchemeScan0=0
+General\colorSchemeScan1=0
+General\decimation0=8
+General\decimation1=4
+General\depthConf0=0
+General\depthConf1=0
+General\downsamplingScan0=1
+General\downsamplingScan1=1
+General\elevationMapShown=0
+General\figure_cache=true
+General\figure_time=true
+General\gravityLength0=1
+General\gravityLength1=1
+General\gravityShown0=false
+General\gravityShown1=true
+General\gridMapOpacity=0.75
+General\gridMapShown=false
+General\gridUIResolution=0
+General\gtAlign=true
+General\imageHighestHypShown=false
+General\imageRejectedShown=true
+General\imagesKept=true
+General\landmarkSize=0
+General\localizationsGraphView=false
+General\localizationsGraphViewOdomCache=false
+General\loggerEventLevel=3
+General\loggerLevel=2
+General\loggerPauseLevel=3
+General\loggerPrintThreadId=false
+General\loggerPrintTime=true
+General\loggerType=1
+General\maxDepth0=5
+General\maxDepth1=0
+General\maxRange0=0
+General\maxRange1=0
+General\meshing=false
+General\meshing_angle=15
+General\meshing_quad=true
+General\meshing_texture=false
+General\meshing_triangle_size=2
+General\minDepth0=0
+General\minDepth1=0
+General\minRange0=0
+General\minRange1=0
+General\missingRepublished=true
+General\noFiltering=true
+General\nochangeGraphView=false
+General\normalKSearch=10
+General\normalRadiusSearch=0
+General\notifyNewGlobalPath=false
+General\octomap=false
+General\octomap_2dgrid=true
+General\octomap_3dmap=true
+General\octomap_depth=16
+General\octomap_point_size=5
+General\octomap_rendering_type=0
+General\odomDisabled=false
+General\odomF2MGravitySigma=-1
+General\odomOnlyInliersShown=false
+General\odomQualityThr=50
+General\odomRegistration=3
+General\opacity0=1
+General\opacity1=0.75
+General\opacityScan0=1
+General\opacityScan1=0.5
+General\posteriorGraphView=true
+General\ptSize0=1
+General\ptSize1=2
+General\ptSizeFeatures0=3
+General\ptSizeFeatures1=3
+General\ptSizeScan0=1
+General\ptSizeScan1=2
+General\roiRatios0=0.0 0.0 0.0 0.0
+General\roiRatios1=0.0 0.0 0.0 0.0
+General\scanCeilingHeight=0
+General\scanFloorHeight=0
+General\scanNormalKSearch=0
+General\scanNormalRadiusSearch=0
+General\showClouds0=true
+General\showClouds1=false
+General\showFeatures0=false
+General\showFeatures1=true
+General\showFrames=false
+General\showFrustums0=false
+General\showFrustums1=false
+General\showGraphs=true
+General\showIMUAcc=false
+General\showIMUGravity=false
+General\showLabels=false
+General\showLandmarks=true
+General\showScans0=true
+General\showScans1=true
+General\subtractFiltering=false
+General\subtractFilteringAngle=0
+General\subtractFilteringMinPts=5
+General\subtractFilteringRadius=0.02
+General\verticalLayoutUsed=true
+General\voxelSizeScan0=0
+General\voxelSizeScan1=0
+General\wordsGraphView=false
+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\0\x32\0\0\0\x1b\0\0\x6\xf2\0\0\x3\xf\0\0\0\x32\0\0\0@\0\0\x6\xf2\0\0\x3\xf\0\0\0\0\0\0\0\0\a\x80\0\0\0\x32\0\0\0@\0\0\x6\xf2\0\0\x3\xf)
+MainWindow\maximized=false
+MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x3\\\0\0\x2\x95\xfc\x2\0\0\0\x3\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x2\0\0\0\x32\0\0\0\x1b\0\0\0\xc8\0\0\0\xc1\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0;\0\0\x1\xaa\0\0\0\x37\0\xff\xff\xff\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\x1\0\0\x1\xeb\0\0\0\xe5\0\0\0\x13\0\xff\xff\xff\0\0\0\x1\0\0\x3_\0\0\x2\x95\xfc\x2\0\0\0\x4\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0;\0\0\x2\x95\0\0\0\xdb\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf0\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\x2\0\0\x4\xf2\0\0\x1\x39\0\0\x2}\0\0\x1\x90\xfb\0\0\0\x34\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0u\0l\0t\0i\0S\0\x65\0s\0s\0i\0o\0n\0L\0o\0\x63\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x13\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\x1(\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xcb\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\x2\0\0\0\x32\0\0\0\x1b\0\0\0\xc8\0\0\0\x88\0\0\0\0\0\0\x2\x95\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
+MainWindow\status_bar=false
+PostProcessingDialog\cluster_angle=30
+PostProcessingDialog\cluster_radius=1
+PostProcessingDialog\detect_more_lc=true
+PostProcessingDialog\inter_session=true
+PostProcessingDialog\intra_session=true
+PostProcessingDialog\iterations=5
+PostProcessingDialog\refine_lc=false
+PostProcessingDialog\refine_neigbors=false
+PostProcessingDialog\sba=false
+PostProcessingDialog\sba_iterations=20
+PostProcessingDialog\sba_rematch_features=true
+PostProcessingDialog\sba_type=1
+PostProcessingDialog\sba_variance=1
+PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\x1\xa8\xff\xff\xff\xf6\0\0\x5{\0\0\x3\xb7\0\0\x1\xa8\0\0\0\x1b\0\0\x5{\0\0\x3\xb7\0\0\0\0\0\0\0\0\a\x80\0\0\x1\xa8\0\0\0\x1b\0\0\x5{\0\0\x3\xb7)
+graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
+graphicsView_graphView\ensure_frame_visible=1
+graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
+graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
+graphicsView_graphView\global_path_visible=true
+graphicsView_graphView\gps_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\x80\x80\0\0)
+graphicsView_graphView\gps_graph_visible=true
+graphicsView_graphView\graph_visible=true
+graphicsView_graphView\grid_visible=true
+graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
+graphicsView_graphView\gt_graph_visible=true
+graphicsView_graphView\highlighting_color_0=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+graphicsView_graphView\highlighting_color_1=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
+graphicsView_graphView\intra_inter_session_colors_enabled=false
+graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
+graphicsView_graphView\link_width=0
+graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+graphicsView_graphView\local_path_visible=true
+graphicsView_graphView\local_radius_visible=false
+graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0)
+graphicsView_graphView\min_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n)
+graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
+graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
+graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
+graphicsView_graphView\node_odom_cache_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\x80\x80\0\0\0\0)
+graphicsView_graphView\node_radius=0.009999999776482582
+graphicsView_graphView\node_visible=true
+graphicsView_graphView\odom_cache_overlay=true
+graphicsView_graphView\orientation_ENU=false
+graphicsView_graphView\origin_visible=true
+graphicsView_graphView\referential_visible=true
+graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
+graphicsView_graphView\view_plane=0
+graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+imageView_loopClosure\alpha=100
+imageView_loopClosure\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+imageView_loopClosure\colormap=2
+imageView_loopClosure\colormap_camera_frame=true
+imageView_loopClosure\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_loopClosure\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_loopClosure\confidence_shown=false
+imageView_loopClosure\depth_shown=false
+imageView_loopClosure\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+imageView_loopClosure\features_shown=true
+imageView_loopClosure\features_size=0
+imageView_loopClosure\graphics_view=false
+imageView_loopClosure\graphics_view_scale=true
+imageView_loopClosure\graphics_view_scale_to_height=false
+imageView_loopClosure\image_shown=true
+imageView_loopClosure\lines_shown=true
+imageView_loopClosure\lines_width=0
+imageView_loopClosure\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+imageView_loopClosure\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+imageView_odometry\alpha=200
+imageView_odometry\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+imageView_odometry\colormap=2
+imageView_odometry\colormap_camera_frame=true
+imageView_odometry\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_odometry\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_odometry\confidence_shown=false
+imageView_odometry\depth_shown=false
+imageView_odometry\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+imageView_odometry\features_shown=true
+imageView_odometry\features_size=0
+imageView_odometry\graphics_view=false
+imageView_odometry\graphics_view_scale=true
+imageView_odometry\graphics_view_scale_to_height=false
+imageView_odometry\image_shown=true
+imageView_odometry\lines_shown=true
+imageView_odometry\lines_width=0
+imageView_odometry\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+imageView_odometry\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+imageView_source\alpha=100
+imageView_source\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+imageView_source\colormap=2
+imageView_source\colormap_camera_frame=true
+imageView_source\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_source\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
+imageView_source\confidence_shown=false
+imageView_source\depth_shown=false
+imageView_source\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+imageView_source\features_shown=true
+imageView_source\features_size=0
+imageView_source\graphics_view=false
+imageView_source\graphics_view_scale=true
+imageView_source\graphics_view_scale_to_height=false
+imageView_source\image_shown=true
+imageView_source\lines_shown=true
+imageView_source\lines_width=0
+imageView_source\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+imageView_source\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+multisession_imageview\alpha=100
+multisession_imageview\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+multisession_imageview\colormap=2
+multisession_imageview\colormap_camera_frame=true
+multisession_imageview\colormap_max_range=@Variant(\0\0\0\x87\0\0\0\0)
+multisession_imageview\colormap_min_range=@Variant(\0\0\0\x87\0\0\0\0)
+multisession_imageview\confidence_shown=false
+multisession_imageview\depth_shown=false
+multisession_imageview\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+multisession_imageview\features_shown=true
+multisession_imageview\features_size=0
+multisession_imageview\graphics_view=false
+multisession_imageview\graphics_view_scale=true
+multisession_imageview\graphics_view_scale_to_height=false
+multisession_imageview\image_shown=true
+multisession_imageview\lines_shown=true
+multisession_imageview\lines_width=0
+multisession_imageview\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+multisession_imageview\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+widget_cloudViewer\camera_axis_shown=true
+widget_cloudViewer\camera_focal=@Variant(\0\0\0T8\xb6\0\0\x37s\0\0\xb5\xd5\0\0)
+widget_cloudViewer\camera_free=false
+widget_cloudViewer\camera_lockZ=true
+widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xc0\xc0\x9b\x36@\x80\xf7\xea\x41\x17p\xe)
+widget_cloudViewer\camera_target_follow=true
+widget_cloudViewer\camera_target_locked=false
+widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0?\x80\0\0)
+widget_cloudViewer\color_range_inverted=0
+widget_cloudViewer\color_range_max=0
+widget_cloudViewer\color_range_min=0
+widget_cloudViewer\coordinate_frame_scale=1
+widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
+widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0)
+widget_cloudViewer\frustum_shown=true
+widget_cloudViewer\grid=false
+widget_cloudViewer\grid_cell_count=50
+widget_cloudViewer\grid_cell_size=1
+widget_cloudViewer\intensity_max=100
+widget_cloudViewer\intensity_rainbow_colormap=false
+widget_cloudViewer\intensity_red_colormap=true
+widget_cloudViewer\normals=false
+widget_cloudViewer\normals_scale=0.20000000298023224
+widget_cloudViewer\normals_step=1
+widget_cloudViewer\rendering_rate=5
+widget_cloudViewer\trajectory_shown=true
+widget_cloudViewer\trajectory_size=100

rtabmap_examples/config/multi_rgbd_inertial_dataset_front.yaml

@@ -0,0 +1,27 @@
+#%YAML:1.0
+---
+camera_name: MULTI_RGBD_INERTIAL_DATASET_FRONT
+image_width: 640
+image_height: 360
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 319.1610, 0., 329.5844, 0.,
+       319.0881, 182.1654, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -0.0535, 0.0589, -0.0176, 0.0 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1., 0., 0., 
+       0., 1., 0.,
+       0., 0., 1. ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 319.1610, 0., 329.5844, 0., 0.,
+       319.0881, 182.1654, 0., 0., 0., 1.,
+       0. ]

rtabmap_examples/config/multi_rgbd_inertial_dataset_left.yaml

@@ -0,0 +1,27 @@
+#%YAML:1.0
+---
+camera_name: MULTI_RGBD_INERTIAL_DATASET_LEFT
+image_width: 640
+image_height: 360
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 319.1506, 0., 321.8367, 0.,
+       318.9474, 180.0959, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -0.0556, 0.0576, -0.0174, 0.0 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1., 0., 0., 
+       0., 1., 0.,
+       0., 0., 1. ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 319.1506, 0., 321.8367, 0., 0.,
+       318.9474, 180.0959, 0., 0., 0., 1.,
+       0. ]

rtabmap_examples/config/multi_rgbd_inertial_dataset_rear.yaml

@@ -0,0 +1,27 @@
+#%YAML:1.0
+---
+camera_name: MULTI_RGBD_INERTIAL_DATASET_REAR
+image_width: 640
+image_height: 360
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 319.3360, 0., 323.9265, 0.,
+       319.1947, 181.9133, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -0.0534, 0.0542, -0.0155, 0.0 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1., 0., 0., 
+       0., 1., 0.,
+       0., 0., 1. ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 319.3360, 0., 323.9265, 0., 0.,
+       319.1947, 181.9133, 0., 0., 0., 1.,
+       0. ]

rtabmap_examples/config/multi_rgbd_inertial_dataset_right.yaml

@@ -0,0 +1,27 @@
+#%YAML:1.0
+---
+camera_name: MULTI_RGBD_INERTIAL_DATASET_RIGHT
+image_width: 640
+image_height: 360
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 320.7208, 0., 325.4179, 0.,
+       320.7359, 184.8089, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -0.0531, 0.0549, -0.0166, 0.0 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1., 0., 0., 
+       0., 1., 0.,
+       0., 0., 1. ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 320.7208, 0., 325.4179, 0., 0.,
+       320.7359, 184.8089, 0., 0., 0., 1.,
+       0. ]

rtabmap_examples/launch/multi_rgbd_inertial_dataset.launch.py

@@ -0,0 +1,162 @@
+#
+#  Example launch file to run VSLAM on this dataset: https://github.com/seungsang07/multi-rgbd-inertial-dataset
+#
+#  Requirement(s):
+#    * RTAB-Map should be built with OpenGV support.
+#
+#  To convert ROS1 bags to ROS2 (https://docs.openvins.com/dev-ros1-to-ros2.html):
+#     sudo pip install rosbags
+#     rosbags-convert --src Indoor.bag --dst Indoor
+#
+#  Usage:
+#    ros2 launch rtabmap_examples multi_rgbd_inertial_dataset.launch.py
+#    ros2 bag play Indoor/Indoor.db3 --clock
+#
+#  Note(s):
+#    * Communication performance could be improved using the composable nodes of these nodes instead,
+#      but we are using nodes here to better understand what is going on with rqt_graph.
+#
+#  To get RMSE after the run (using https://github.com/MichaelGrupp/evo):
+#    rtabmap-export --poses --pose_format 10 ~/.ros/rtabmap.db
+#    evo_ape tum -a -p --plot_mode xy ~/Downloads/GroundTruth/gt_indoor.txt ~/.ros/rtabmap_poses.txt
+#
+
+from launch import LaunchDescription, LaunchContext
+from launch_ros.actions import SetParameter
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+
+def make_yaml_to_camera_info_node(camera):
+  # the dataset doesn't provide camera_info topics of the camera in the rosbags, so we need to generate them
+  return Node(
+        package='rtabmap_util', executable='yaml_to_camera_info.py', name=f'yaml_to_camera_info_{camera}', output='screen',
+        parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), f'/config/multi_rgbd_inertial_dataset_{camera}.yaml']}],
+        remappings=[
+          ('image', 'color/image_raw'),
+          ('camera_info', 'color/camera_info')],
+        namespace=f'camera_{camera}')
+
+def make_rgbd_sync_node(camera):
+  # synchronize topics of each camera together
+  return Node(
+        package='rtabmap_sync', executable='rgbd_sync', name=f'rgbd_sync_{camera}', output="screen",
+        parameters=[{"approx_sync": False}],
+        remappings=[
+            ("rgb/image", 'color/image_raw'),
+            ("depth/image", 'aligned_depth_to_color/image_raw'),
+            ("rgb/camera_info", 'color/camera_info'),
+            ("rgbd_image", 'rgbd_image')],
+        namespace=f'camera_{camera}')
+
+def make_static_transform_publisher_node(x, y, z, yaw, pitch, roll, parent_frame, child_frame):
+  return Node(
+          package='tf2_ros', executable='static_transform_publisher', name=f"static_transform_publisher_{parent_frame}_{child_frame}", output='screen',
+          arguments=['--frame-id', parent_frame, 
+                     '--child-frame-id', child_frame,
+                     '--x', str(x),
+                     '--y', str(y),
+                     '--z', str(z),
+                     '--yaw', str(yaw),
+                     '--pitch', str(pitch),
+                     '--roll', str(roll)])
+
+def launch_setup(context: LaunchContext, *args, **kwargs):
+  
+  use_imu = LaunchConfiguration('use_imu').perform(context)
+  use_imu = use_imu == 'true' or use_imu == 'True'
+  
+  # Synchronize all cameras together
+  rgbdx_sync_node = Node(
+      package='rtabmap_sync', executable='rgbdx_sync', output="screen",
+      parameters=[{
+          "rgbd_cameras": 4,
+          "approx_sync": True,
+          "approx_sync_max_interval": 0.015}],
+      remappings=[
+          ("rgbd_image0", '/camera_left/rgbd_image'),
+          ("rgbd_image1", '/camera_front/rgbd_image'),
+          ("rgbd_image2", '/camera_right/rgbd_image'),
+          ("rgbd_image3", '/camera_rear/rgbd_image')],
+      namespace='rtabmap'
+  )
+  
+  # RGB-D odometry
+  remappings = []
+  if use_imu:
+    remappings = [("imu", '/imu')]
+  rgbd_odometry_node = Node(
+      package='rtabmap_odom', executable='rgbd_odometry', output="screen",
+      parameters=[{
+          "frame_id": 'base_link',
+          "rgbd_cameras": 0, # make it subscribe to rgbd_images topic from rgbdx_sync
+          "subscribe_rgbd": True,
+          "wait_imu_to_init": use_imu}],
+      remappings=remappings,
+      namespace='rtabmap'
+  )
+
+  # SLAM 
+  remappings=[("sensor_data", 'odom_sensor_data/raw')]
+  if(use_imu):
+    remappings.append(('imu', '/imu'))
+  slam_node = Node(
+      package='rtabmap_slam', executable='rtabmap', output="screen",
+      parameters=[{
+          "subscribe_sensor_data": True,
+          "frame_id": 'base_link',
+          "approx_sync": False,
+          "Grid/3D": 'false',
+          "Grid/RayTracing": 'true',
+          "Grid/NormalsSegmentation": 'false',
+          "Grid/MaxGroundHeight": '0.05',
+          "Rtabmap/CreateIntermediateNodes": 'true' # Only to record all odometry poses for trajectory evaluation purpose
+      }],
+      remappings=remappings,
+      arguments=["--delete_db_on_start"],
+      namespace='rtabmap'
+  )
+      
+  # Visualization
+  viz_node = Node(
+    package='rtabmap_viz', executable='rtabmap_viz', output="screen",
+    parameters=[{
+        "subscribe_sensor_data": True,
+        "frame_id": 'base_link',
+        "approx_sync": False,
+        "subscribe_odom_info": True
+    }],
+    remappings=[("sensor_data", 'odom_sensor_data/raw')],
+    arguments=["-d", [FindPackageShare('rtabmap_examples'), '/config/multi_rgbd_inertial_dataset.ini']],
+    namespace='rtabmap'
+  )
+  
+  return [
+        make_yaml_to_camera_info_node('left'),
+        make_rgbd_sync_node('left'),
+        make_yaml_to_camera_info_node('front'),
+        make_rgbd_sync_node('front'),
+        make_yaml_to_camera_info_node('right'),
+        make_rgbd_sync_node('right'),
+        make_yaml_to_camera_info_node('rear'),
+        make_rgbd_sync_node('rear'),
+        # The dataset doesn't provide /tf or /tf_static for the extrinsics between imu and the cameras, so we add them here
+        make_static_transform_publisher_node(0., 0., 0.22, 3.1415926, 0., 0., 'base_link', 'imu_link'),
+        make_static_transform_publisher_node(-0.099307, -0.208806, 0.024309, 3.108592, -0.051480, -1.592415, 'imu_link', 'camera_left_color_optical_frame'),
+        make_static_transform_publisher_node(-0.435392, 0.022256, 0.053441, 1.532258, -0.007768, -1.580204, 'imu_link', 'camera_front_color_optical_frame'),
+        make_static_transform_publisher_node(-0.063987, 0.212966, 0.032071, -0.010030, 0.021977, -1.553814, 'imu_link', 'camera_right_color_optical_frame'),
+        make_static_transform_publisher_node(0.178893, -0.006307, 0.017677, -1.606156, 0.027545, -1.587179, 'imu_link', 'camera_rear_color_optical_frame'),
+        make_static_transform_publisher_node(0.045872, -0.026775, 0.284806, 3.141063, -0.014869, -0.014969, 'imu_link', 'os_sensor'),
+        rgbdx_sync_node,
+        rgbd_odometry_node,
+        slam_node,
+        viz_node
+      ]
+
+def generate_launch_description():
+  return LaunchDescription([
+    DeclareLaunchArgument('use_imu', default_value='false', description='Use IMU'),
+    SetParameter(name='use_sim_time', value=True),
+    OpaqueFunction(function=launch_setup),
+  ])

rtabmap_examples/launch/rtabmap_D405x2.launch.py

@@ -74,7 +74,6 @@ def generate_launch_description():
         remappings=[
             ("rgbd_image", '/realsense_camera1/rgbd_image'),
             ("odom", 'odom')],
-        arguments=["--delete_db_on_start", ''],
         prefix='',
         namespace='rtabmap'
     )

rtabmap_examples/launch/rtabmap_D405x3.launch.py

@@ -88,7 +88,6 @@ def generate_launch_description():
         remappings=[
             ("rgbd_image", '/realsense_camera1/rgbd_image'),
             ("odom", 'odom')],
-        arguments=["--delete_db_on_start", ''],
         prefix='',
         namespace='rtabmap'
     )

rtabmap_sync/src/nodelets/rgbdx_sync.cpp

@@ -33,7 +33,7 @@ namespace rtabmap_sync
 {
 
 RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) :
-	Node("rgbd_sync", options),
+	Node("rgbdx_sync", options),
 	SYNC_INIT(rgbd2),
 	SYNC_INIT(rgbd3),
 	SYNC_INIT(rgbd4),

rtabmap_util/scripts/yaml_to_camera_info.py

@@ -73,9 +73,14 @@ class YamlToCameraInfo(Node):
 def main(args=None):
     rclpy.init(args=args)
     yaml_to_camera_info = YamlToCameraInfo()
-    rclpy.spin(yaml_to_camera_info)
-    yaml_to_camera_info.destroy_node()
-    rclpy.shutdown()
+    try:
+        rclpy.spin(yaml_to_camera_info)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        yaml_to_camera_info.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
 
 if __name__ == "__main__":
     main()

rtabmap_viz/src/GuiNode.cpp

@@ -37,7 +37,7 @@ QApplication * app = 0;
 
 void my_handler(int){
 	UINFO("rtabmap_viz: ctrl-c catched! Exiting Qt app...");
-	app->exit(-1);
+	app->exit(0);
 }
 
 int main(int argc, char** argv)
@@ -87,8 +87,12 @@ int main(int argc, char** argv)
 		r = app->exec();// MUST be called by the Main Thread
 
 		RCLCPP_INFO(node->get_logger(), "rtabmap_viz stopping spinner...");
-		rclcpp::shutdown();
-		execution_thread.join();
+		if (rclcpp::ok()) {
+			rclcpp::shutdown();
+		}
+		if (execution_thread.joinable()) {
+			execution_thread.join();
+		}
 
 		RCLCPP_INFO(node->get_logger(), "rtabmap_viz: All done! Closing...");
 	}