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

rtabmap_conversions/package.xml

@@ -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_conversions</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_conversions/src/MsgConversion.cpp

@@ -3058,6 +3058,25 @@ bool deskew_impl(
 			}
 		}
 
+		if(secFirst > 1.e18)
+		{
+			// convert nanoseconds to seconds
+			secFirst /= 1.e9;
+			secLast /= 1.e9;
+		}
+		else if(secFirst > 1.e15)
+		{
+			// convert microseconds to seconds
+			secFirst /= 1.e6;
+			secLast /= 1.e6;
+		}
+		else if(secFirst > 1.e12)
+		{
+			// convert milliseconds to seconds
+			secFirst /= 1.e3;
+			secLast /= 1.e3;
+		}
+
 		firstStamp = timestampToROS(secFirst);
 		lastStamp = timestampToROS(secLast);
 	}
@@ -3196,6 +3215,21 @@ bool deskew_impl(
 			else if(timeDatatype == 8) //float64
 			{
 				double sec = *((const double*)(&output.data[u*output.point_step]+offsetTime));
+				if(sec > 1.e18)
+				{
+					// convert nanoseconds to seconds
+					sec /= 1.e9;
+				}
+				else if(sec > 1.e15)
+				{
+					// convert microseconds to seconds
+					sec /= 1.e6;
+				}
+				else if(sec > 1.e12)
+				{
+					// sec milliseconds to seconds
+					sec /= 1.e3;
+				}
 				stamp = timestampToROS(sec);
 			}
 
@@ -3275,6 +3309,21 @@ bool deskew_impl(
 			else if(timeDatatype == 8)
 			{
 				double sec = *((const double*)(&output.data[v*output.row_step]+offsetTime));
+				if(sec > 1.e18)
+				{
+					// convert nanoseconds to seconds
+					sec /= 1.e9;
+				}
+				else if(sec > 1.e15)
+				{
+					// convert microseconds to seconds
+					sec /= 1.e6;
+				}
+				else if(sec > 1.e12)
+				{
+					// sec milliseconds to seconds
+					sec /= 1.e3;
+				}
 				stamp = timestampToROS(sec);
 			}
 

rtabmap_demos/README.md

@@ -1,101 +1,72 @@
 # rtabmap_demos
-
++ [Outdoor Stereo VSLAM](#outdoor-stereo-vslam)
-- [rtabmap_demos](#rtabmap-demos)
++ [Indoor 2D LiDAR and RGB-D SLAM](#indoor-2d-lidar-and-rgb-d-slam)
-    + [Outdoor Stereo VSLAM](#outdoor-stereo-vslam)
++ [Multi-Session Indoor 2D LiDAR and RGB-D SLAM](#multi-session-indoor-2d-lidar-and-rgb-d-slam)
-    + [Indoor 2D LiDAR and RGB-D SLAM](#indoor-2d-lidar-and-rgb-d-slam)
++ [Find-Object with SLAM](#find-object-with-slam)
-    + [Multi-Session Indoor 2D LiDAR and RGB-D SLAM](#multi-session-indoor-2d-lidar-and-rgb-d-slam)
++ [Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot4-nav2-2d-lidar-and-rgb-d-slam)
-    + [Find-Object with SLAM](#find-object-with-slam)
++ [Turtlebot3 Nav2 and 2D LiDAR SLAM](#turtlebot3-nav2-and-2d-lidar-slam)
-    + [Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot4-nav2--2d-lidar-and-rgb-d-slam)
++ [Turtlebot3 Nav2 and RGB-D SLAM](#turtlebot3-nav2-and-rgb-d-slam)
-    + [Turtlebot3 Nav2 and 2D LiDAR SLAM](#turtlebot3-nav2-and-2d-lidar-slam)
++ [Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2-2d-lidar-and-rgb-d-slam)
-    + [Turtlebot3 Nav2 and RGB-D SLAM](#turtlebot3-nav2-and-rgb-d-slam)
++ [Champ Quadruped Nav2, Elevation Map and VSLAM](#champ-quadruped-nav2-elevation-map-and-vslam)
-    + [Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2--2d-lidar-and-rgb-d-slam)
++ [Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM](#clearpath-husky-nav2-2d-lidar-and-rgb-d-slam)
-    + [Champ Quadruped Nav2, Elevation Map and VSLAM](#champ-quadruped-nav2--elevation-map-and-vslam)
++ [Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM](#clearpath-husky-nav2-3d-lidar-and-rgb-d-slam)
-    + [Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM](#clearpath-husky-nav2--2d-lidar-and-rgb-d-slam)
++ [Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM](#clearpath-husky-nav2-3d-lidar-assembling-and-rgb-d-slam)
-    + [Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM](#clearpath-husky-nav2--3d-lidar-and-rgb-d-slam)
++ [Isaac Sim Nav2 and Stereo SLAM](#isaac-sim-nav2-and-stereo-slam)
-    + [Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM](#clearpath-husky-nav2--3d-lidar-assembling-and-rgb-d-slam)
++ [Isaac Sim Nav2 and RGB-D VSLAM](#isaac-sim-nav2-and-rgb-d-vslam)
-    + [Isaac Sim Nav2 and Stereo SLAM](#isaac-sim-nav2-and-stereo-slam)
-    + [Isaac Sim Nav2 and RGB-D VSLAM](#isaac-sim-nav2-and-rgb-d-vslam)
 
 ### Outdoor Stereo VSLAM
-```
+[stereo_outdoor_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/stereo_outdoor_demo.launch.py)
-ros2 launch rtabmap_demos stereo_outdoor_demo.launch.py
+
-```
 ![Peek 2024-11-29 10-52](https://github.com/user-attachments/assets/b6dd4a1c-5bd5-4cfa-936d-e8e707bbcb23)
-
 ### Indoor 2D LiDAR and RGB-D SLAM
-```
+[robot_mapping_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/robot_mapping_demo.launch.py)
-ros2 launch rtabmap_demos robot_mapping_demo.launch.py rviz:=true rtabmap_viz:=true
+
-```
 ![Peek 2024-11-29 11-07](https://github.com/user-attachments/assets/b02beeea-28ed-4fde-932d-c89bef1a046d)
-
 ### Multi-Session Indoor 2D LiDAR and RGB-D SLAM
-```
+[multisession_mapping_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/multisession_mapping_demo.launch.py)
-ros2 launch rtabmap_demos multisession_mapping_demo.launch.py
+
-```
 ![Peek 2024-11-29 11-48](https://github.com/user-attachments/assets/b130e5ab-618f-4c8b-840f-f926b65ab53b)
-
 ### Find-Object with SLAM
-```
+[find_object_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/find_object_demo.launch.py)
-ros2 launch rtabmap_demos find_object_demo.launch.py
+
-```
 ![Peek 2024-11-29 12-01](https://github.com/user-attachments/assets/b3cc0c67-517a-4f69-b4cc-35d288e96165)
-
 ### Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM
-```
+[turtlebot4_sim_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot4/turtlebot4_sim_demo.launch.py)
-ros2 launch rtabmap_demos turtlebot4_sim_demo.launch.py
+
-```
 ![Peek 2024-11-29 12-19](https://github.com/user-attachments/assets/5914e34c-19f1-4b7c-b4df-2e7084946888)
-
 ### Turtlebot3 Nav2 and 2D LiDAR SLAM
-```
+[turtlebot3_sim_scan_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_scan_demo.launch.py)
-ros2 launch rtabmap_demos turtlebot3_sim_scan_demo.launch.py
+
-```
 ![Peek 2024-11-29 12-23](https://github.com/user-attachments/assets/e3c31c5a-5c46-4370-ad17-38c795db7917)
-
 ### Turtlebot3 Nav2 and RGB-D SLAM
-```
+[turtlebot3_sim_rgbd_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_demo.launch.py)
-ros2 launch rtabmap_demos turtlebot3_sim_rgbd_demo.launch.py
+
-```
 ![Peek 2024-11-29 14-22](https://github.com/user-attachments/assets/5088be17-0875-42cc-b863-d14468c67f26)
-
 ### Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM
-```
+[turtlebot3_sim_rgbd_scan_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_scan_demo.launch.py)
-ros2 launch rtabmap_demos turtlebot3_sim_rgbd_scan_demo.launch.py
+
-```
 ![Peek 2024-11-29 13-41](https://github.com/user-attachments/assets/2e878158-b1b6-48a4-801c-72cdb41b4783)
-
 ### Champ Quadruped Nav2, Elevation Map and VSLAM
-```
+[champ_sim_vslam.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/champ/champ_sim_vslam.launch.py)
-ros2 launch rtabmap_demos champ_sim_vslam.launch.py
+
-```
 ![Peek 2024-11-29 15-00](https://github.com/user-attachments/assets/d1a27c78-27bc-4901-82a7-59b5d24e6454)
-
 ### Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM
-```
+[husky_sim_scan2d_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/husky/husky_sim_scan2d_demo.launch.py)
-ros2 launch rtabmap_demos husky_sim_scan2d_demo.launch.py
+
-```
 ![Peek 2024-11-29 15-30](https://github.com/user-attachments/assets/c8f79b86-253e-4c8e-ac7a-c26584f43fa4)
-
 ### Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM
-```
+[husky_sim_scan3d_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/husky/husky_sim_scan3d_demo.launch.py)
-ros2 launch rtabmap_demos husky_sim_scan3d_demo.launch.py
+
-```
 ![Peek 2024-11-29 15-36](https://github.com/user-attachments/assets/a4b6e6ae-38ed-44da-bbfb-d3c30a301f9c)
-
 ### Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM
-```
+[husky_sim_scan3d_assemble_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/husky/husky_sim_scan3d_assemble_demo.launch.py)
-ros2 launch rtabmap_demos husky_sim_scan3d_assemble_demo.launch.py
+
-```
 ![Peek 2024-11-29 16-16](https://github.com/user-attachments/assets/b2235bd2-33d2-4c44-b6e9-9923a524632b)
-
 ### Isaac Sim Nav2 and Stereo SLAM
-```
+[isaac_sim_vslam_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/isaac/isaac_sim_vslam_demo.launch.py)
-ros2 launch rtabmap_demos isaac_sim_vslam_demo.launch.py
-```
-![Peek 2024-11-29 17-49](https://github.com/user-attachments/assets/54cd0c82-aaed-47e5-911a-f286b6d2cc17)
 
+![Peek 2024-11-29 17-49](https://github.com/user-attachments/assets/54cd0c82-aaed-47e5-911a-f286b6d2cc17)
 ### Isaac Sim Nav2 and RGB-D VSLAM
-```
+[isaac_sim_vslam_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/isaac/isaac_sim_vslam_demo.launch.py) stereo:=false vo:=rtabmap
-ros2 launch rtabmap_demos isaac_sim_vslam_demo.launch.py stereo:=false vo:=rtabmap
+
-```
+![Peek 2024-11-30 13-22](https://github.com/user-attachments/assets/240820c6-4dea-4cbf-9431-b4b3af695d51)
-![Peek 2024-11-30 13-22](https://github.com/user-attachments/assets/240820c6-4dea-4cbf-9431-b4b3af695d51)

rtabmap_demos/package.xml

@@ -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_demos</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's demo launch files.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_examples/package.xml

@@ -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>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's example launch files.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_launch/package.xml

@@ -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_launch</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's main launch files.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_msgs/package.xml

@@ -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_msgs</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's msgs package.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_odom/include/rtabmap_odom/OdometryROS.h

@@ -162,6 +162,7 @@ private:
 	USemaphore dataReady_;
 	rtabmap::SensorData dataToProcess_;
 	std_msgs::msg::Header dataHeaderToProcess_;
+	bool bufferedDataToProcess_;
 
 	bool paused_;
 	int resetCountdown_;

rtabmap_odom/package.xml

@@ -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_odom</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's odometry package.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_odom/src/OdometryROS.cpp

@@ -420,25 +420,36 @@ void OdometryROS::callbackIMU(const sensor_msgs::msg::Imu::SharedPtr msg)
 		double stamp = rtabmap_conversions::timestampFromROS(msg->header.stamp);
 		//RCLCPP_WARN(get_logger(), "Received imu: %f delay=%f", stamp, (now() - msg->header.stamp).seconds());
 
-		UScopeMutex m(imuMutex_);
-
-		if(!imuProcessed_ && imus_.empty())
 		{
-			rtabmap::Transform localTransform = rtabmap_conversions::getTransform(this->frameId(), msg->header.frame_id, msg->header.stamp, *tfBuffer_, waitForTransform_);
+			UScopeMutex m(imuMutex_);
-			if(localTransform.isNull())
+
+			if(!imuProcessed_ && imus_.empty())
 			{
-				RCLCPP_WARN(this->get_logger(), "Dropping imu data! A valid TF between %s and %s is required to initialize IMU.",
+				rtabmap::Transform localTransform = rtabmap_conversions::getTransform(this->frameId(), msg->header.frame_id, msg->header.stamp, *tfBuffer_, waitForTransform_);
-					this->frameId().c_str(), msg->header.frame_id.c_str());
+				if(localTransform.isNull())
-				return;
+				{
+					RCLCPP_WARN(this->get_logger(), "Dropping imu data! A valid TF between %s and %s is required to initialize IMU.",
+						this->frameId().c_str(), msg->header.frame_id.c_str());
+					return;
+				}
+			}
+
+			imus_.insert(std::make_pair(stamp, msg));
+
+			if(imus_.size() > 1000)
+			{
+				RCLCPP_WARN(this->get_logger(), "Dropping imu data!");
+				imus_.erase(imus_.begin());
 			}
 		}
-
+		if(dataMutex_.lockTry() == 0)
-		imus_.insert(std::make_pair(stamp, msg));
-
-		if(imus_.size() > 1000)
 		{
-			RCLCPP_WARN(this->get_logger(), "Dropping imu data!");
+			if(bufferedDataToProcess_ && rtabmap_conversions::timestampFromROS(dataHeaderToProcess_.stamp) <= stamp)
-			imus_.erase(imus_.begin());
+			{
+				bufferedDataToProcess_ = false;
+				dataReady_.release();
+			}
+			dataMutex_.unlock();
 		}
 	}
 }
@@ -448,8 +459,14 @@ void OdometryROS::processData(SensorData & data, const std_msgs::msg::Header & h
 	//RCLCPP_WARN(get_logger(), "Received image: %f delay=%f", data.stamp(), (now() - header.stamp).seconds());
 	if(dataMutex_.lockTry() == 0)
 	{
+		if(bufferedDataToProcess_) {
+			RCLCPP_ERROR(this->get_logger(), "We didn't receive IMU newer than previous image (%f) and we just received a new image (%f). The previous image is dropped!",
+						rtabmap_conversions::timestampFromROS(dataHeaderToProcess_.stamp), rtabmap_conversions::timestampFromROS(header.stamp));
+			++droppedMsgs_;
+		}
 		dataToProcess_ = data;
 		dataHeaderToProcess_ = header;
+		bufferedDataToProcess_ = false;
 		dataReady_.release();
 		dataMutex_.unlock();
 		++processedMsgs_;
@@ -495,8 +512,9 @@ void OdometryROS::mainLoop()
 
 		if(waitIMUToinit_ && (imus_.empty() || imus_.rbegin()->first < rtabmap_conversions::timestampFromROS(header.stamp)))
 		{
-			RCLCPP_ERROR(this->get_logger(), "Make sure IMU is published faster than data rate! (last image stamp=%f and last imu stamp received=%f)",
+			RCLCPP_WARN(this->get_logger(), "Make sure IMU is published faster than data rate! (last image stamp=%f and last imu stamp received=%f). Buffering the image until an imu with same or greater stamp is received.",
 					data.stamp(), imus_.empty()?0:imus_.rbegin()->first);
+			bufferedDataToProcess_ = true;
 			return;
 		}
 		// process all imu data up to current image stamp (or just after so that underlying odom approach can do interpolation of imu at image stamp)
@@ -922,10 +940,9 @@ void OdometryROS::mainLoop()
 					"is %fs too old (>%fs, min_update_rate = %f Hz). Previous data stamp is %f while new data stamp is %f.",
 					rtabmap_conversions::timestampFromROS(header.stamp) - previousStamp_, 1.0/minUpdateRate_, minUpdateRate_, previousStamp_, rtabmap_conversions::timestampFromROS(header.stamp));
 		}
-		else
+		else if(--resetCurrentCount_>0)
 		{
 			RCLCPP_WARN(this->get_logger(), "Odometry lost! Odometry will be reset after next %d consecutive unsuccessful odometry updates...", resetCurrentCount_);
-			--resetCurrentCount_;
 		}
 
 		if(resetCurrentCount_ == 0 || tooOldPreviousData)
@@ -953,6 +970,11 @@ void OdometryROS::mainLoop()
 					odometry_->reset(tfPose);
 				}
 			}
+			// Keep resetting if the odometry cannot initialize in next updates (e.g., lack of features).
+			// This will make sure we keep updating to latest guess pose.
+			if(resetCurrentCount_ == 0) {
+				++resetCurrentCount_;
+			}
 		}
 	}
 
@@ -1149,6 +1171,7 @@ void OdometryROS::reset(const Transform & pose)
 	imuProcessed_ = false;
 	dataToProcess_ = SensorData();
 	dataHeaderToProcess_ = std_msgs::msg::Header();
+	bufferedDataToProcess_ = false;
 	imuMutex_.lock();
 	imus_.clear();
 	imuMutex_.unlock();

rtabmap_python/package.xml

@@ -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_python</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's python package.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_ros/package.xml

@@ -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_ros</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>
     RTAB-Map Stack
   </description>

rtabmap_rviz_plugins/package.xml

@@ -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_rviz_plugins</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's rviz plugins.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_slam/package.xml

@@ -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_slam</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's SLAM package.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_slam/src/CoreWrapper.cpp

@@ -346,7 +346,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
 	}
 
 	// declare parameters
-	this->declare_parameter("is_rtabmap_paused", paused_);
+	paused_ = this->declare_parameter("is_rtabmap_paused", paused_);
 	if(paused_)
 	{
 		RCLCPP_WARN(get_logger(), "Node paused... don't forget to call service \"resume\" to start rtabmap.");
@@ -388,6 +388,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
 	
 	char ** argv = new char*[argList.size()];
 	bool deleteDbOnStart = false;
+	deleteDbOnStart = this->declare_parameter("delete_db_on_start", deleteDbOnStart);
 	for(unsigned int i=0; i<argList.size(); ++i)
 	{
 		argv[i] = &argList[i].at(0);

rtabmap_sync/package.xml

@@ -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_sync</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's synchronization package.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_util/package.xml

@@ -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_util</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's various useful nodes and nodelets.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_viz/package.xml

@@ -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_viz</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's visualization package.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>