update rtabmap config - Githubissues

luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.

MIT License

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Closed borongyuan closed 1 year ago

borongyuan commented 1 year ago

Several updates:

Using rectified rgb image as required by rgbd_odometry. Same issue as #269.
Launch rtabmap nodes as composable nodes.
Enable ‘subscribe_odom_info’ for better performance (rtabmap can use odometry features instead of regenerating them) and visualization.

Serafadam commented 1 year ago

Hi, thanks for the PR!