Merge branch 'ros2' of github.com:introlab/rtabmap_ros into rolling-devel

2026-10-10 03:29:49 +08:00 · 2026-06-24 18:04:57 -07:00
parent 5510b54055 2eef2b3231
commit 3464b545b9
161 changed files with 9713 additions and 2149 deletions
@@ -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
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+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
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+General\meshing_angle=15
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+General\meshing_triangle_size=2
+General\minDepth0=0
+General\minDepth1=0
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+General\nochangeGraphView=false
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+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
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+General\roiRatios1=0.0 0.0 0.0 0.0
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+General\scanFloorHeight=0
+General\scanNormalKSearch=0
+General\scanNormalRadiusSearch=0
+General\showClouds0=true
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+General\showFrustums0=false
+General\showFrustums1=false
+General\showGraphs=true
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+General\showIMUGravity=false
+General\showLabels=false
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+General\subtractFilteringRadius=0.02
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+MainWindow\status_bar=false
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+PostProcessingDialog\cluster_radius=1
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+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
@@ -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. ]
@@ -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. ]
@@ -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. ]
@@ -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. ]
@@ -1,8 +1,14 @@
 # Requirements:
 #   A OAK-D camera
-#   Install depthai-ros package (https://github.com/luxonis/depthai-ros)
+#   Install depthai-ros package (https://github.com/luxonis/depthai-ros). Tested on Humble branch!
 # Example:
 #   $ ros2 launch rtabmap_examples depthai.launch.py camera_model:=OAK-D
+#
+# Description: In this example, we feed IR-D images to rtabmap
+#
+# Note: The first frames may be too bright or too dark till camera exposure adjusts 
+#       to an appriopriate level. Do "Detection->Reset odometry", then 
+#       "Edit->Delete memory" if tracking is lost on start.

 import os

@@ -0,0 +1,81 @@
+# Requirements:
+#   A OAK-D camera
+#   Install depthai-ros package (https://github.com/luxonis/depthai-ros). Tested on Humble branch!
+# Example:
+#   $ ros2 launch rtabmap_examples depthai_color.launch.py camera_model:=OAK-D
+#
+# Description: In this example, we feed RGB-D images to rtabmap
+#
+# Note: The first frames may be too bright or too dark till camera exposure adjusts 
+#       to an appriopriate level. Do "Detection->Reset odometry", then 
+#       "Edit->Delete memory" if tracking is lost on start.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    parameters=[{'frame_id':'oak-d-base-frame',
+                 'subscribe_rgbd':True,
+                 'subscribe_odom_info':True,
+                 'approx_sync':False}]
+    
+    sync_parameters=[{'approx_sync':True,
+                      'approx_sync_max_interval':0.005}]
+    
+    remappings=[('imu', '/imu/data')]
+
+    return LaunchDescription([
+
+        # Launch camera driver
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('depthai_examples'), 'launch'),
+                '/stereo_inertial_node.launch.py']),
+                launch_arguments={'enableRviz': 'false',
+                                  'rgbResolution': '1080p',
+                                  'rgbScaleNumerator': '2', # Convert to 720p (same size than depth)
+                                  'rgbScaleDinominator': '3'}.items(),
+        ),
+
+        # Sync right/depth/camera_info together
+        Node(   
+            package='rtabmap_sync', executable='rgbd_sync', output='screen',
+            parameters=sync_parameters,
+            remappings=[('rgb/image', '/color/image'),
+                        ('rgb/camera_info', '/color/camera_info'),
+                        ('depth/image', '/stereo/depth')]),
+
+        # Compute quaternion of the IMU
+        Node(
+            package='imu_filter_madgwick', executable='imu_filter_madgwick_node', output='screen',
+            parameters=[{'use_mag': False, 
+                         'world_frame':'enu', 
+                         'publish_tf':False}],
+            remappings=[('imu/data_raw', '/imu')]),
+
+        # Visual odometry
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+
+        # VSLAM
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        # Visualization
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings)
+    ])
@@ -0,0 +1,90 @@
+# Requirements:
+#   A OAK-D camera
+#   Install depthai-ros package (https://github.com/luxonis/depthai-ros). Tested on Humble branch!
+#
+#   Issue: To have compatible stereo camera info with rtabmap (P[0,3] should be positive on left camera info or negative in right camera info), 
+#          we should add the following line here (https://github.com/luxonis/depthai-ros/blob/887248d72cc6b9515793f828645346408b9cad47/depthai_examples/src/stereo_inertial_publisher.cpp#L593)
+#          so that left camera info has a positive P[0,3] instead of negative to correctly compute the baseline:
+#
+#   <line 593> leftCameraInfo.p[3] *=-1;
+# 
+# Example:
+#   $ ros2 launch rtabmap_examples depthai_stereo.launch.py camera_model:=OAK-D
+#
+# Description: In this example, we feed stereo IR images to rtabmap
+#
+# Note: The first frames may be too bright or too dark till camera exposure adjusts 
+#       to an appriopriate level. Do "Detection->Reset odometry", then 
+#       "Edit->Delete memory" if tracking is lost on start.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    parameters={'frame_id':'oak-d-base-frame',
+                 'subscribe_rgbd':True,
+                 'subscribe_odom_info':True,
+                 'approx_sync':False,
+                 'wait_imu_to_init':True}
+    
+    sync_parameters=[{'approx_sync':True,
+                      'approx_sync_max_interval':0.005}]
+
+    remappings=[('imu', '/imu/data')]
+
+    return LaunchDescription([
+
+        # Launch camera driver
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('depthai_examples'), 'launch'),
+                '/stereo_inertial_node.launch.py']),
+                launch_arguments={'depth_aligned': 'false', # not color mode
+                                  'enableRviz': 'false',
+                                  'monoResolution': '400p'}.items(),
+        ),
+
+        # Sync right/depth/camera_info together
+        Node(   
+            package='rtabmap_sync', executable='stereo_sync', output='screen',
+            parameters=sync_parameters,
+            remappings=[('left/image', '/left/image_rect'),
+                        ('left/camera_info', '/left/camera_info'),
+                        ('right/image', '/right/image_rect'),
+                        ('right/camera_info', '/right/camera_info')]),
+
+        # Compute quaternion of the IMU
+        Node(
+            package='imu_filter_madgwick', executable='imu_filter_madgwick_node', output='screen',
+            parameters=[{'use_mag': False, 
+                         'world_frame':'enu', 
+                         'publish_tf':False}],
+            remappings=[('imu/data_raw', '/imu')]),
+
+        # Visual odometry
+        Node(
+            package='rtabmap_odom', executable='stereo_odometry', output='screen',
+            parameters=[parameters],
+            remappings=remappings),
+
+        # VSLAM
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=[parameters],
+            remappings=remappings,
+            arguments=['-d']),
+
+        # Visualization
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=[parameters,
+                        {'odometry_node_name': "stereo_odometry"}],
+            remappings=remappings)
+    ])
@@ -62,7 +62,8 @@ def generate_launch_description():
        # Nodes to launch
        Node(
            package='rtabmap_odom', executable='stereo_odometry', output='screen',
-            parameters=[parameters],
+            parameters=[parameters,
+                { 'always_process_most_recent_frame':True}],
            remappings=remappings),

        Node(
@@ -82,7 +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
@@ -103,15 +105,13 @@ def generate_launch_description():
            namespace='stereo_camera'),
            
        Node(
-            package='image_proc', executable='image_proc', output='screen',
+            package='image_proc', executable='rectify_node', output='screen',
            remappings=[
-              ('image_raw', '/cam0/image_raw'),
              ('image', '/cam0/image_raw')],
            namespace='stereo_camera/left'),
        Node(
-            package='image_proc', executable='image_proc', output='screen',
+            package='image_proc', executable='rectify_node', output='screen',
            remappings=[
-              ('image_raw', '/cam1/image_raw'),
              ('image', '/cam1/image_raw')],
            namespace='stereo_camera/right'),

@@ -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')])
  ]
  
@@ -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)])
  ]
  
@@ -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)])
  ]
  
@@ -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),
+  ])
@@ -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',
@@ -0,0 +1,130 @@
+# Requirements:
+#   A realsense D435i
+#   Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
+# Example:
+#   $ ros2 launch rtabmap_examples realsense_d435i_color_composition.launch.py
+#
+# This is the "composition" variant of realsense_d435i_color.launch.py: the
+# camera driver, IMU filter, RGB-D odometry and SLAM all run as composable
+# nodes in a single component container (rtabmap_container) with
+# use_intra_process_comms enabled, so messages can be passed by pointer instead
+# of being serialized/copied between processes.
+#
+# As in the non-composed example, the color stream is used as RGB and paired
+# with the depth aligned to color (align_depth.enable), with the IR emitter on.
+#
+# Notes:
+#  * Unlike the non-composed example, we do NOT include realsense2's rs_launch.py:
+#    that launch file always starts the camera as a standalone node and exposes
+#    no way to load it into an existing container. Instead we instantiate the
+#    camera component (realsense2_camera::RealSenseNodeFactory) ourselves, the
+#    same way realsense's own rs_intra_process_demo_launch.py does.
+#  * ComposableNode has no "arguments" field, so the args/odom_args/-d
+#    command-line mechanism of the non-composed example is not available here.
+#    To override rtabmap parameters, add them directly to the 'parameters' dict
+#    below. '-d' (delete database on start) becomes the 'delete_db_on_start'
+#    parameter.
+#
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition
+from launch_ros.actions import Node, ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    parameters={
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          'approx_sync':False,
+          'wait_imu_to_init':True}
+
+    remappings=[
+          ('imu', '/imu/data'),
+          ('rgb/image', '/camera/color/image_raw'),
+          ('rgb/camera_info', '/camera/color/camera_info'),
+          ('depth/image', '/camera/aligned_depth_to_color/image_raw')]
+
+    # Enable zero-copy intra-process communication on every composable node.
+    intra_process = [{'use_intra_process_comms': True}]
+
+    return LaunchDescription([
+
+        # Launch arguments
+        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(
+            'rtabmap_viz', default_value='true', description='Launch RTAB-Map UI (optional).'),
+
+        # Single component container holding the whole pipeline.
+        ComposableNodeContainer(
+            name='rtabmap_container',
+            namespace='',
+            package='rclcpp_components',
+            executable='component_container',
+            output='screen',
+            composable_node_descriptions=[
+
+                # Camera driver (replaces the rs_launch.py include).
+                ComposableNode(
+                    package='realsense2_camera', plugin='realsense2_camera::RealSenseNodeFactory',
+                    name='camera', namespace='',
+                    parameters=[{
+                        'enable_gyro': True,
+                        'enable_accel': True,
+                        'unite_imu_method': LaunchConfiguration('unite_imu_method'),
+                        'align_depth.enable': True,
+                        'enable_sync': True,
+                        'rgb_camera.profile': '640x360x30',
+                        'depth_module.emitter_enabled': 1}], # Make sure IR emitter is enabled
+                    extra_arguments=intra_process),
+
+                # Compute quaternion of the IMU
+                ComposableNode(
+                    package='imu_filter_madgwick', plugin='ImuFilterMadgwickRos',
+                    name='imu_filter', namespace='',
+                    parameters=[{'use_mag': False,
+                                 'world_frame':'enu',
+                                 'publish_tf':False}],
+                    remappings=[('imu/data_raw', '/camera/imu')],
+                    extra_arguments=intra_process),
+
+                # RGB-D odometry (color + depth aligned to color)
+                ComposableNode(
+                    package='rtabmap_odom', plugin='rtabmap_odom::RGBDOdometry',
+                    parameters=[parameters],
+                    remappings=remappings,
+                    extra_arguments=intra_process),
+
+                # SLAM
+                # Note: latch=False. rtabmap latches its map/cloud/octomap/mapGraph
+                # topics by default (transient_local QoS), which is incompatible
+                # with intra-process comms ("intraprocess communication allowed
+                # only with volatile durability"). latch=False makes them volatile
+                # so the node can join the zero-copy container.
+                ComposableNode(
+                    package='rtabmap_slam', plugin='rtabmap_slam::CoreWrapper',
+                    parameters=[parameters,
+                      {'delete_db_on_start': True, # Equivalent of '-d'
+                       'latch': False}],
+                    remappings=remappings,
+                    extra_arguments=intra_process),
+            ]),
+
+        # Visualization:
+        # Note: rtabmap_viz is launched as a standalone node, not as a component.
+        # It is a Qt application and its UI must run in the process main thread,
+        # while components run in container worker threads, so it cannot be
+        # composed (the same applies to rviz2).
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            condition=IfCondition(LaunchConfiguration('rtabmap_viz')),
+            parameters=[parameters],
+            remappings=remappings),
+    ])
@@ -0,0 +1,106 @@
+# Requirements:
+#   A realsense D435i
+#   Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
+# Example:
+#   $ ros2 launch rtabmap_examples realsense_d435i_combined.launch.py
+#
+# Description: In this example, we feed visual odometry with IR stereo images 
+#              for better pose estimation while seding RGB-D data to slam for 
+#              a colored map.
+#
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node, SetParameter
+from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+def generate_launch_description():
+    vo_parameters={
+          'frame_id':'camera_link',
+          'wait_imu_to_init':True}
+
+    vo_remappings=[
+          ('imu', '/imu/data'),
+          ('left/image_rect', '/camera/infra1/image_rect_raw'),
+          ('left/camera_info', '/camera/infra1/camera_info'),
+          ('right/image_rect', '/camera/infra2/image_rect_raw'),
+          ('right/camera_info', '/camera/infra2/camera_info')]
+    
+    slam_parameters={
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          'approx_sync':False}
+
+    slam_remappings=[
+          ('imu', '/imu/data'),
+          ('rgb/image', '/camera/color/image_raw'),
+          ('rgb/camera_info', '/camera/color/camera_info'),
+          ('depth/image', '/camera/aligned_depth_to_color/image_raw')]
+
+    return LaunchDescription([
+
+        # Launch arguments
+        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.'),
+
+        #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(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('realsense2_camera'), 'launch'),
+                '/rs_launch.py']),
+                launch_arguments={'camera_namespace': '',
+                                  'enable_gyro': 'true',
+                                  'enable_accel': 'true',
+                                  'unite_imu_method': LaunchConfiguration('unite_imu_method'),
+                                  'enable_infra1': 'true',
+                                  'enable_infra2': 'true',
+                                  'align_depth.enable': 'true',
+                                  'enable_sync': 'true',
+                                  'rgb_camera.profile': '640x360x30'}.items(),
+        ),
+
+        Node(
+            package='rtabmap_odom', executable='stereo_odometry', output='screen',
+            parameters=[vo_parameters],
+            arguments=[LaunchConfiguration("args"), LaunchConfiguration("odom_args")],
+            remappings=vo_remappings),
+
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=[slam_parameters],
+            remappings=slam_remappings,
+            arguments=['-d', LaunchConfiguration("args")]),
+
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=[slam_parameters,
+                        {'odometry_node_name': "stereo_odometry"}],
+            remappings=slam_remappings),
+                
+        # Compute quaternion of the IMU
+        Node(
+            package='imu_filter_madgwick', executable='imu_filter_madgwick_node', output='screen',
+            parameters=[{'use_mag': False, 
+                         'world_frame':'enu', 
+                         'publish_tf':False}],
+            remappings=[('imu/data_raw', '/camera/imu')]),
+    ])
@@ -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',
@@ -0,0 +1,132 @@
+# Requirements:
+#   A realsense D435i
+#   Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
+# Example:
+#   $ ros2 launch rtabmap_examples realsense_d435i_infra_composition.launch.py
+#
+# This is the "composition" variant of realsense_d435i_infra.launch.py: the
+# camera driver, IMU filter, RGB-D odometry and SLAM all run as composable
+# nodes in a single component container (rtabmap_container) with
+# use_intra_process_comms enabled, so messages can be passed by pointer instead
+# of being serialized/copied between processes.
+#
+# As in the non-composed example, the left infrared image (infra1) is used as
+# the grayscale "RGB" input and paired with the depth stream. This works because
+# on the D435i the depth is computed in the left-infrared frame, so infra1 and
+# depth share the same intrinsics/frame (already registered, no align needed).
+#
+# Notes:
+#  * Unlike the non-composed example, we do NOT include realsense2's rs_launch.py:
+#    that launch file always starts the camera as a standalone node and exposes
+#    no way to load it into an existing container. Instead we instantiate the
+#    camera component (realsense2_camera::RealSenseNodeFactory) ourselves, the
+#    same way realsense's own rs_intra_process_demo_launch.py does.
+#  * ComposableNode has no "arguments" field, so the args/odom_args/-d
+#    command-line mechanism of the non-composed example is not available here.
+#    To override rtabmap parameters, add them directly to the 'parameters' dict
+#    below. '-d' (delete database on start) becomes the 'delete_db_on_start'
+#    parameter.
+#
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition
+from launch_ros.actions import Node, ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    parameters={
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          'approx_sync':False,
+          'wait_imu_to_init':True}
+
+    remappings=[
+          ('imu', '/imu/data'),
+          ('rgb/image', '/camera/infra1/image_rect_raw'),
+          ('rgb/camera_info', '/camera/infra1/camera_info'),
+          ('depth/image', '/camera/depth/image_rect_raw')]
+
+    # Enable zero-copy intra-process communication on every composable node.
+    intra_process = [{'use_intra_process_comms': True}]
+
+    return LaunchDescription([
+
+        # Launch arguments
+        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(
+            'rtabmap_viz', default_value='true', description='Launch RTAB-Map UI (optional).'),
+
+        # Single component container holding the whole pipeline.
+        ComposableNodeContainer(
+            name='rtabmap_container',
+            namespace='',
+            package='rclcpp_components',
+            executable='component_container',
+            output='screen',
+            composable_node_descriptions=[
+
+                # Camera driver (replaces the rs_launch.py include).
+                ComposableNode(
+                    package='realsense2_camera', plugin='realsense2_camera::RealSenseNodeFactory',
+                    name='camera', namespace='',
+                    parameters=[{
+                        'enable_gyro': True,
+                        'enable_accel': True,
+                        'unite_imu_method': LaunchConfiguration('unite_imu_method'),
+                        'enable_infra1': True,
+                        'enable_infra2': True,
+                        'enable_sync': True,
+                        'depth_module.emitter_enabled': 0}], # Hack to disable IR emitter
+                    extra_arguments=intra_process),
+
+                # Compute quaternion of the IMU
+                ComposableNode(
+                    package='imu_filter_madgwick', plugin='ImuFilterMadgwickRos',
+                    name='imu_filter', namespace='',
+                    parameters=[{'use_mag': False,
+                                 'world_frame':'enu',
+                                 'publish_tf':False}],
+                    remappings=[('imu/data_raw', '/camera/imu')],
+                    extra_arguments=intra_process),
+
+                # RGB-D odometry (infra1 as grayscale RGB + depth)
+                ComposableNode(
+                    package='rtabmap_odom', plugin='rtabmap_odom::RGBDOdometry',
+                    parameters=[parameters],
+                    remappings=remappings,
+                    extra_arguments=intra_process),
+
+                # SLAM
+                # Note: latch=False. rtabmap latches its map/cloud/octomap/mapGraph
+                # topics by default (transient_local QoS), which is incompatible
+                # with intra-process comms ("intraprocess communication allowed
+                # only with volatile durability"). latch=False makes them volatile
+                # so the node can join the zero-copy container.
+                ComposableNode(
+                    package='rtabmap_slam', plugin='rtabmap_slam::CoreWrapper',
+                    parameters=[parameters,
+                      {'delete_db_on_start': True, # Equivalent of '-d'
+                       'latch': False}],
+                    remappings=remappings,
+                    extra_arguments=intra_process),
+            ]),
+
+        # Visualization:
+        # Note: rtabmap_viz is launched as a standalone node, not as a component.
+        # It is a Qt application and its UI must run in the process main thread,
+        # while components run in container worker threads, so it cannot be
+        # composed (the same applies to rviz2).
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            condition=IfCondition(LaunchConfiguration('rtabmap_viz')),
+            parameters=[parameters],
+            remappings=remappings),
+    ])
@@ -3,7 +3,21 @@
 #   Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
 # Example:
 #   $ ros2 launch rtabmap_examples realsense_d435i_stereo.launch.py
-
+#
+#
+#
+#
+# VINS-Fusion example:
+#   Add to your ros2 workspace the package https://github.com/zinuok/VINS-Fusion-ROS2
+#   Apply this patch https://gist.github.com/matlabbe/ebbb343cd744da9d6d6d6ded2e1557fd
+#      -> Revert "#define USE_GPU" change if you want to build VINS-Fusion with GPU support.
+#   That may be counterintuitive, but we need to build VINS-Fusion first, then rebuild rtabmap with VINS-Fusion support.
+#      -> in your ros2 workspace, do "colcon build --packages-select vins"
+#      -> go back under rtabmap library repo, then rebuild/install with "cmake -DWITH_VINS_FUSION=ON ..."
+#      -> do "colcon build" in your ros2 workspace again to rebuild rtabmap_ros
+#   $ ros2 launch rtabmap_examples realsense_d435i_stereo.launch.py odom_args:="--Odom/Strategy 9 OdomVINSFusion/ConfigPath ~/ros2_ws/src/VINS-Fusion-ROS2/config/realsense_d435i/realsense_stereo_imu_config.yaml"
+#      -> set "imu: 1" in realsense_stereo_imu_config.yaml to do stereo inertial odometry, otherwise only stereo odometry is done.
+#
 import os

 from ament_index_python.packages import get_package_share_directory
@@ -16,11 +30,11 @@ 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 +52,15 @@ 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 +78,20 @@ 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
@@ -0,0 +1,128 @@
+# Requirements:
+#   A realsense D435i
+#   Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
+# Example:
+#   $ ros2 launch rtabmap_examples realsense_d435i_stereo_composition.launch.py
+#
+# This is the "composition" variant of realsense_d435i_stereo.launch.py: the
+# camera driver, IMU filter, stereo odometry and SLAM all run as composable
+# nodes in a single component container (rtabmap_container) with
+# use_intra_process_comms enabled, so messages can be passed by pointer instead
+# of being serialized/copied between processes.
+#
+# Notes:
+#  * Unlike the non-composed example, we do NOT include realsense2's rs_launch.py:
+#    that launch file always starts the camera as a standalone node and exposes
+#    no way to load it into an existing container. Instead we instantiate the
+#    camera component (realsense2_camera::RealSenseNodeFactory) ourselves, the
+#    same way realsense's own rs_intra_process_demo_launch.py does.
+#  * ComposableNode has no "arguments" field, so the args/odom_args/-d
+#    command-line mechanism of the non-composed example is not available here.
+#    To override rtabmap parameters, add them directly to the 'parameters' dict
+#    below. '-d' (delete database on start) becomes the 'delete_db_on_start'
+#    parameter.
+#
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition
+from launch_ros.actions import Node, ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    parameters={
+          'frame_id':'camera_link',
+          'subscribe_stereo':True,
+          'subscribe_odom_info':True,
+          'wait_imu_to_init':True}
+
+    remappings=[
+          ('imu', '/imu/data'),
+          ('left/image_rect', '/camera/infra1/image_rect_raw'),
+          ('left/camera_info', '/camera/infra1/camera_info'),
+          ('right/image_rect', '/camera/infra2/image_rect_raw'),
+          ('right/camera_info', '/camera/infra2/camera_info')]
+
+    # Enable zero-copy intra-process communication on every composable node.
+    intra_process = [{'use_intra_process_comms': True}]
+
+    return LaunchDescription([
+
+        # Launch arguments
+        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(
+            'rtabmap_viz', default_value='true', description='Launch RTAB-Map UI (optional).'),
+
+        # Single component container holding the whole pipeline.
+        ComposableNodeContainer(
+            name='rtabmap_container',
+            namespace='',
+            package='rclcpp_components',
+            executable='component_container',
+            output='screen',
+            composable_node_descriptions=[
+
+                # Camera driver (replaces the rs_launch.py include).
+                ComposableNode(
+                    package='realsense2_camera', plugin='realsense2_camera::RealSenseNodeFactory',
+                    name='camera', namespace='',
+                    parameters=[{
+                        'enable_gyro': True,
+                        'enable_accel': True,
+                        'unite_imu_method': LaunchConfiguration('unite_imu_method'),
+                        'enable_infra1': True,
+                        'enable_infra2': True,
+                        'enable_sync': True,
+                        'depth_module.emitter_enabled': 0}], # Hack to disable IR emitter
+                    extra_arguments=intra_process),
+
+                # Compute quaternion of the IMU
+                ComposableNode(
+                    package='imu_filter_madgwick', plugin='ImuFilterMadgwickRos',
+                    name='imu_filter', namespace='',
+                    parameters=[{'use_mag': False,
+                                 'world_frame':'enu',
+                                 'publish_tf':False}],
+                    remappings=[('imu/data_raw', '/camera/imu')],
+                    extra_arguments=intra_process),
+
+                # Stereo odometry
+                ComposableNode(
+                    package='rtabmap_odom', plugin='rtabmap_odom::StereoOdometry',
+                    parameters=[parameters],
+                    remappings=remappings,
+                    extra_arguments=intra_process),
+
+                # SLAM
+                # Note: latch=False. rtabmap latches its map/cloud/octomap/mapGraph
+                # topics by default (transient_local QoS), which is incompatible
+                # with intra-process comms ("intraprocess communication allowed
+                # only with volatile durability"). latch=False makes them volatile
+                # so the node can join the zero-copy container.
+                ComposableNode(
+                    package='rtabmap_slam', plugin='rtabmap_slam::CoreWrapper',
+                    parameters=[parameters,
+                      {'delete_db_on_start': True, # Equivalent of '-d'
+                       'latch': False}],
+                    remappings=remappings,
+                    extra_arguments=intra_process),
+            ]),
+
+        # Visualization:
+        # Note: rtabmap_viz is launched as a standalone node, not as a component.
+        # It is a Qt application and its UI must run in the process main thread,
+        # while components run in container worker threads, so it cannot be
+        # composed (the same applies to rviz2).
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            condition=IfCondition(LaunchConfiguration('rtabmap_viz')),
+            parameters=[parameters,
+                        {'odometry_node_name': "stereo_odometry"}],
+            remappings=remappings),
+    ])
@@ -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'
    )
@@ -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'
    )
@@ -23,13 +23,26 @@ remappings = []

 def launch_setup(context: LaunchContext, *args, **kwargs):

-    # Hack to override grab_resolution parameter without changing any files
+    use_zed_odometry = LaunchConfiguration('use_zed_odometry').perform(context) in ["True", "true"]
+
+    # Override some ZED parameters without changing any files:
+    #  * grab_resolution: VGA
+    #  * pos_tracking_enabled: disabled when rtabmap computes the odometry, so
+    #    the ZED node does not publish the odom->camera_link TF (which would
+    #    conflict with rtabmap's odometry). We still set publish_tf:=true below
+    #    so the ZED node keeps broadcasting the IMU TF, which rtabmap needs
+    #    (wait_imu_to_init). sensors.publish_imu_tf is ignored when publish_tf
+    #    is false, and the IMU frame is not in the ZED URDF, so this is the only
+    #    way to get the IMU TF while rtabmap owns the odometry.
+    pos_tracking_enabled = 'true' if use_zed_odometry else 'false'
    with tempfile.NamedTemporaryFile(mode='w+t', delete=False) as zed_override_file:
        zed_override_file.write("---\n"+
                  "/**:\n"+
                  "    ros__parameters:\n"+
                  "        general:\n"+
-                  "            grab_resolution: 'VGA'")
+                  "            grab_resolution: 'VGA'\n"+
+                  "        pos_tracking:\n"+
+                  "            pos_tracking_enabled: "+pos_tracking_enabled)

    parameters=[{'frame_id':'zed_camera_link',
                 'subscribe_rgbd':True,
@@ -38,7 +51,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):

    remappings=[('imu', '/zed/zed_node/imu/data')]

-    if LaunchConfiguration('use_zed_odometry').perform(context) in ["True", "true"]:
+    if use_zed_odometry:
        remappings.append(('odom', '/zed/zed_node/odom'))
    else:
        parameters.append({'subscribe_odom_info': True})
@@ -51,7 +64,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
                '/zed_camera.launch.py']),
                launch_arguments={'camera_model': LaunchConfiguration('camera_model'),
                                    'ros_params_override_path': zed_override_file.name,
-                                    'publish_tf': LaunchConfiguration('use_zed_odometry'),
+                                    'publish_tf': 'true',
+                                    'publish_imu_tf': 'true',
                                    'publish_map_tf': 'false'}.items(),
        ),

@@ -59,8 +73,8 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
        Node(   
            package='rtabmap_sync', executable='rgbd_sync', output='screen',
            parameters=parameters,
-            remappings=[('rgb/image', '/zed/zed_node/rgb/image_rect_color'),
-                        ('rgb/camera_info', '/zed/zed_node/rgb/camera_info'),
+            remappings=[('rgb/image', '/zed/zed_node/rgb/color/rect/image'),
+                        ('rgb/camera_info', '/zed/zed_node/rgb/color/rect/camera_info'),
                        ('depth/image', '/zed/zed_node/depth/depth_registered')]),

        # Visual odometry
@@ -0,0 +1,164 @@
+# Requirements:
+#   A ZED camera
+#   Install zed ros2 wrapper package (https://github.com/stereolabs/zed-ros2-wrapper)
+# Example:
+#   $ ros2 launch rtabmap_examples zed_composition.launch.py camera_model:=zed2i
+#
+# This is the "composition" variant of zed.launch.py: the ZED driver, RGB-D
+# synchronization, visual odometry and SLAM all run as composable nodes in a
+# single component container with use_intra_process_comms enabled, so messages
+# can be passed by pointer instead of being serialized/copied between processes.
+#
+# Notes:
+#  * The ZED wrapper's zed_camera.launch.py already creates its own component
+#    container ("zed_container") and loads the ZedCamera component into it with
+#    intra-process comms enabled by default (enable_ipc:=true). So instead of
+#    creating our own container, we let the ZED wrapper create it and load the
+#    rtabmap nodes into the SAME container (/zed/zed_container) with
+#    LoadComposableNodes. This assumes the default ZED namespace ("zed"), which
+#    is independent of camera_model.
+#  * ComposableNode has no "arguments" or "condition" field. So the '-d'
+#    argument becomes the 'delete_db_on_start' parameter, and the conditional
+#    odometry node is included in Python depending on use_zed_odometry.
+#
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node, LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+from launch.actions import IncludeLaunchDescription, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+import tempfile
+
+def launch_setup(context: LaunchContext, *args, **kwargs):
+
+    use_zed_odometry = LaunchConfiguration('use_zed_odometry').perform(context) in ["True", "true"]
+
+    # Override some ZED parameters without changing any files:
+    #  * grab_resolution: VGA
+    #  * pos_tracking_enabled: disabled when rtabmap computes the odometry, so
+    #    the ZED node does not publish the odom->camera_link TF (which would
+    #    conflict with rtabmap's odometry). We still set publish_tf:=true below
+    #    so the ZED node keeps broadcasting the IMU TF, which rtabmap needs
+    #    (wait_imu_to_init). sensors.publish_imu_tf is ignored when publish_tf
+    #    is false, and the IMU frame is not in the ZED URDF, so this is the only
+    #    way to get the IMU TF while rtabmap owns the odometry.
+    pos_tracking_enabled = 'true' if use_zed_odometry else 'false'
+    with tempfile.NamedTemporaryFile(mode='w+t', delete=False) as zed_override_file:
+        zed_override_file.write("---\n"+
+                  "/**:\n"+
+                  "    ros__parameters:\n"+
+                  "        general:\n"+
+                  "            grab_resolution: 'VGA'\n"+
+                  "        pos_tracking:\n"+
+                  "            pos_tracking_enabled: "+pos_tracking_enabled)
+
+    # ZED topics are /zed/zed_node/* and the container created by the wrapper is
+    # /zed/zed_container (default ZED namespace "zed").
+    zed_ns = '/zed/zed_node'
+    zed_container = '/zed/zed_container'
+
+    parameters=[{'frame_id':'zed_camera_link',
+                 'subscribe_rgbd':True,
+                 'approx_sync':False,
+                 'wait_imu_to_init':True}]
+
+    remappings=[('imu', zed_ns + '/imu/data')]
+
+    if use_zed_odometry:
+        remappings.append(('odom', zed_ns + '/odom'))
+    else:
+        parameters.append({'subscribe_odom_info': True})
+
+    # Enable zero-copy intra-process communication on every composable node.
+    intra_process = [{'use_intra_process_comms': True}]
+
+    # rtabmap nodes loaded into the ZED container.
+    composable_nodes = [
+        # Sync rgb/depth/camera_info together
+        ComposableNode(
+            package='rtabmap_sync', plugin='rtabmap_sync::RGBDSync',
+            parameters=parameters,
+            remappings=[('rgb/image', zed_ns + '/rgb/color/rect/image'),
+                        ('rgb/camera_info', zed_ns + '/rgb/color/rect/camera_info'),
+                        ('depth/image', zed_ns + '/depth/depth_registered')],
+            extra_arguments=intra_process),
+    ]
+
+    # Visual odometry (only when not using ZED's own odometry). ComposableNode
+    # has no 'condition', so we add it here based on use_zed_odometry.
+    if not use_zed_odometry:
+        composable_nodes.append(
+            ComposableNode(
+                package='rtabmap_odom', plugin='rtabmap_odom::RGBDOdometry',
+                parameters=parameters,
+                remappings=remappings,
+                extra_arguments=intra_process))
+
+    # VSLAM
+    # Note: latch=False. rtabmap latches its map/cloud/octomap/mapGraph topics
+    # by default (transient_local QoS), which is incompatible with intra-process
+    # comms ("intraprocess communication allowed only with volatile durability").
+    # latch=False makes them volatile so the node can join the container.
+    composable_nodes.append(
+        ComposableNode(
+            package='rtabmap_slam', plugin='rtabmap_slam::CoreWrapper',
+            parameters=parameters + [{'delete_db_on_start': True, # Equivalent of '-d'
+                                      'latch': False}],
+            remappings=remappings,
+            extra_arguments=intra_process))
+
+    return [
+        # Launch camera driver. It creates the "zed_container" component
+        # container (enable_ipc:=true by default) and loads the ZedCamera
+        # component into it.
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('zed_wrapper'), 'launch'),
+                '/zed_camera.launch.py']),
+                launch_arguments={'camera_model': LaunchConfiguration('camera_model'),
+                                    'ros_params_override_path': zed_override_file.name,
+                                    # publish_tf must be true so the ZED node broadcasts the
+                                    # IMU TF (gated by publish_tf). The odom->camera_link TF is
+                                    # disabled via pos_tracking_enabled=false (override file)
+                                    # when rtabmap computes the odometry.
+                                    'publish_tf': 'true',
+                                    'publish_imu_tf': 'true',
+                                    'publish_map_tf': 'false'}.items(),
+        ),
+
+        # Load the rtabmap pipeline into the ZED container.
+        LoadComposableNodes(
+            target_container=zed_container,
+            composable_node_descriptions=composable_nodes),
+
+        # Visualization
+        # Note: rtabmap_viz is a Qt application; its UI must run in the process
+        # main thread, while components run in container worker threads. So it
+        # cannot be composed and stays a standalone node.
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings)
+    ]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+
+        # Launch arguments
+        DeclareLaunchArgument(
+            'use_zed_odometry', default_value='false',
+            description='Use zed\'s computed odometry instead of using rtabmap\'s odometry.'),
+
+        DeclareLaunchArgument(
+            'camera_model', default_value='',
+            description="[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features. Valid choices are: ['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']"),
+
+        OpaqueFunction(function=launch_setup)
+    ])
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>rtabmap_examples</name>
-  <version>0.22.1</version>
+  <version>0.23.7</version>
  <description>RTAB-Map's example launch files.</description>
  <maintainer email="[email protected]">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>