RTAB-Map parameters can be also set using node arguments (or rtabmap_args for some launch files)

src/CoreNode.cpp

@@ -48,18 +48,6 @@ int main(int argc, char** argv)
 		{
 			deleteDbOnStart = true;
 		}
-		else if(strcmp(argv[i], "--udebug") == 0)
-		{
-			ULogger::setLevel(ULogger::kDebug);
-		}
-		else if(strcmp(argv[i], "--uinfo") == 0)
-		{
-			ULogger::setLevel(ULogger::kInfo);
-		}
-		else if(strcmp(argv[i], "--uwarn") == 0)
-		{
-			ULogger::setLevel(ULogger::kWarning);
-		}
 		else if(strcmp(argv[i], "--params") == 0 || strcmp(argv[i], "--params-all") == 0)
 		{
 			rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
@@ -98,14 +86,11 @@ int main(int argc, char** argv)
 					 "argument \"--params\" is detected!");
 			exit(0);
 		}
-		else
-		{
-			ROS_ERROR("Not recognized argument \"%s\"", argv[i]);
-			exit(-1);
-		}
 	}
 
-	CoreWrapper * rtabmap = new CoreWrapper(deleteDbOnStart);
+	rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argc, argv);
+
+	CoreWrapper * rtabmap = new CoreWrapper(deleteDbOnStart, parameters);
 
 	ROS_INFO("rtabmap %s started...", RTABMAP_VERSION);
 	ros::spin();

src/CoreWrapper.cpp

@@ -71,7 +71,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 using namespace rtabmap;
 
-CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
+CoreWrapper::CoreWrapper(bool deleteDbOnStart, const ParametersMap & parameters) :
 		paused_(false),
 		lastPose_(Transform::getIdentity()),
 		lastPoseIntermediate_(false),
@@ -281,6 +281,13 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 		}
 	}
 
+	//update with input arguments
+	for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
+	{
+		uInsert(parameters_, ParametersPair(iter->first, iter->second));
+		ROS_INFO("Update RTAB-Map parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
+	}
+
 	// Backward compatibility
 	for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=Parameters::getRemovedParameters().begin();
 		iter!=Parameters::getRemovedParameters().end();

src/CoreWrapper.h

@@ -80,7 +80,7 @@ typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseCl
 class CoreWrapper
 {
 public:
-	CoreWrapper(bool deleteDbOnStart);
+	CoreWrapper(bool deleteDbOnStart, const rtabmap::ParametersMap & parameters);
 	virtual ~CoreWrapper();
 
 private:

src/OdometryROS.cpp

@@ -182,6 +182,17 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
 		}
 	}
 
+	rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argc, argv);
+	for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
+	{
+		rtabmap::ParametersMap::iterator jter = parameters_.find(iter->first);
+		if(jter!=parameters_.end())
+		{
+			ROS_INFO("Update odometry parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
+			jter->second = iter->second;
+		}
+	}
+
 	// Backward compatibility
 	for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=Parameters::getRemovedParameters().begin();
 		iter!=Parameters::getRemovedParameters().end();