From 95004363b447bedd4457b1b1fcde2bd6d409e4d7 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 19 Feb 2026 19:51:33 -0800
Subject: [PATCH] multi_rgbd_inertial_dataset.launch: record intermediate poses

---
 rtabmap_examples/launch/multi_rgbd_inertial_dataset.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/rtabmap_examples/launch/multi_rgbd_inertial_dataset.launch b/rtabmap_examples/launch/multi_rgbd_inertial_dataset.launch
index 5c3716df..4284f82d 100644
--- a/rtabmap_examples/launch/multi_rgbd_inertial_dataset.launch
+++ b/rtabmap_examples/launch/multi_rgbd_inertial_dataset.launch
@@ -114,6 +114,7 @@
       <param name="Grid/RayTracing"          type="string" value="true"/>
       <param name="Grid/NormalsSegmentation" type="string" value="false"/>
       <param name="Grid/MaxGroundHeight"     type="string" value="0.05"/>
+      <param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/> <!-- Only to record all odometry poses for trajectory evaluation purpose -->
       <remap from="sensor_data" to="odom_sensor_data/raw"/>
       <remap if="$(arg use_imu)" from="imu" to="/imu"/>
     </node>