From 3d827e002d2321ddab57d635151a4e1c48ead139 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 14 Sep 2025 23:46:16 +0000
Subject: [PATCH] Fixing internal VINS-fusion not in par to external vins
 fusion (#911)

---
 rtabmap_examples/launch/euroc_datasets.launch | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/rtabmap_examples/launch/euroc_datasets.launch b/rtabmap_examples/launch/euroc_datasets.launch
index 5cbdb787..4775f87d 100644
--- a/rtabmap_examples/launch/euroc_datasets.launch
+++ b/rtabmap_examples/launch/euroc_datasets.launch
@@ -108,13 +108,13 @@ Examples:
    <param name="use_mag" value="false"/>
    <param name="world_frame" value="enu"/>
    <param name="publish_tf" value="false"/>
+   <param name="do_bias_estimation" value="false"/> <!-- Do not modify angular velocity! -->
 </node>
 
 <!-- RTAB-Map -->
 <include file="$(find rtabmap_launch)/launch/rtabmap.launch">
    <arg     if="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg common_args) --Rtabmap/ImagesAlreadyRectified false"/>
    <arg unless="$(arg raw_images_for_odom)" name="rtabmap_args" value="$(arg common_args)"/>
-   <arg     if="$(arg raw_images_for_odom)" name="odom_args" value="--Rtabmap/ImagesAlreadyRectified false"/>
    <arg     if="$(arg raw_images_for_odom)" name="left_image_topic" value="/cam0/image_raw"/>
    <arg unless="$(arg raw_images_for_odom)" name="left_image_topic" value="/stereo_camera/left/image_rect"/>
    <arg     if="$(arg raw_images_for_odom)" name="right_image_topic" value="/cam1/image_raw"/>
@@ -128,6 +128,11 @@ Examples:
    <arg name="rtabmap_viz" value="$(arg rtabmap_viz)"/>
    <arg name="rviz" value="$(arg rviz)"/>
    <arg name="wait_imu_to_init" value="true"/>
+
+   <!-- Dataset: We don't care about latency, but we care about processing all data -->
+   <arg name="topic_queue_size" value="100"/>
+   <arg name="sync_queue_size" value="100"/>
+   <arg name="odom_always_process_most_recent_frame" value="false"/>
 </include>
 
 </launch>