• launch/demo_data_recorder.launch
• launch/demo_turtlebot3_navigation.launch
  • • model [default: $(env TURTLEBOT3_MODEL)] — model type [burger, waffle, waffle_pi]
    • open_rviz [default: true]
    • rtabmap_viz [default: true]
    • move_forward_only [default: false]
    • with_camera [default: true]
    • localization [default: false]
    • database_path [default: ~/.ros/rtabmap.db]
    • rtabmap_args [default: ]
    • rtabmap_args [default: -d]
• launch/demo_catvehicle_mapping.launch
  • • camera [default: true]
    • lidar [default: true]
    • cell_size [default: 0.2]
    • rtabmap_viz [default: true]
    • rviz [default: true]
    • light [default: false]
    • altitude [default: 0]
    • localization [default: false]
• launch/demo_hector_mapping.launch
  • • rviz [default: true]
    • rtabmap_viz [default: false]
    • hector [default: true]
    • odom_guess [default: false]
    • camera [default: true]
    • max_range [default: 0]
    • p2n [default: true]
    • pm [default: true]
• launch/demo_find_object.launch
  • • rviz [default: true]
    • rtabmap_viz [default: false]
    • save_objects [default: false]
    • localization [default: false]
    • save_objects_as_landmarks [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/demo_two_kinects.launch
  • • rviz [default: false]
    • rtabmap_viz [default: true]
    • strategy [default: 0]
    • feature [default: 6]
    • nn [default: 3]
    • max_depth [default: 4.0]
    • min_inliers [default: 20]
    • inlier_distance [default: 0.02]
    • local_map [default: 1000]
    • odom_info_data [default: true]
    • wait_for_transform [default: true]
• launch/demo_unitree_quadruped_robot.launch
  • • localization [default: false]
    • rtabmap_args [default: --Mem/IncrementalMemory false]
    • rtabmap_args [default: --Mem/IncrementalMemory true --delete_db_on_start]
• launch/demo_isaac_carter_navigation.launch
  • • localization [default: false]
    • lidar3d [default: false]
    • lidar3d_ray_tracing [default: true]
    • lidar3d_grid3d [default: true]
    • camera [default: true]
    • stereo [default: false]
    • model [default: $(find carter_description)/urdf/carter.urdf]
    • cell_size [default: 0.2]
    • cell_size [default: 0.05]
• launch/demo_stereo_outdoor.launch
  • • rviz [default: true]
    • rtabmap_viz [default: false]
    • local_bundle [default: true]
    • stereo_sync [default: false]
• launch/demo_turtlebot_rviz.launch
  • Used for visualising the turtlebot while building a map or navigating with the ros navistack.
• launch/demo_stereo_pr2.launch
• launch/demo_turtlebot_mapping.launch
  • • database_path [default: rtabmap.db]
    • rgbd_odometry [default: false]
    • rtabmap_viz [default: false]
    • localization [default: false]
    • simulation [default: false]
    • sw_registered [default: false]
    • args [default: ]
    • args [default: --delete_db_on_start]
    • rgb_topic [default: /camera/rgb/image_raw]
    • rgb_topic [default: /camera/rgb/image_rect_color]
    • depth_topic [default: /camera/depth/image_raw]
    • depth_topic [default: /camera/depth_registered/image_raw]
    • camera_info_topic [default: /camera/rgb/camera_info]
    • wait_for_transform [default: 0.2]
• launch/demo_appearance_mapping.launch
  • • localization [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/demo_husky.launch
  • • navigation [default: true]
    • localization [default: false]
    • icp_odometry [default: false]
    • rtabmap_viz [default: false]
    • camera [default: false]
    • lidar2d [default: false]
    • lidar3d [default: false]
    • lidar3d_ray_tracing [default: true]
    • slam2d [default: true]
    • depth_from_lidar [default: false]
    • cell_size [default: 0.3]
    • cell_size [default: 0.05]
    • lidar_args [default: ]
    • lidar_args [default: --Reg/Strategy 1 --RGBD/NeighborLinkRefining true --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0 --Odom/ScanKeyFrameThr 0.5 --Icp/MaxTranslation 1]
    • lidar_args [default: --Reg/Strategy 1 --RGBD/NeighborLinkRefining true --ICP/PM true --Icp/PMOutlierRatio 0.7 --Icp/VoxelSize $(arg cell_size) --Icp/MaxCorrespondenceDistance 1 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/Iterations 10 --Icp/Epsilon 0.001 --OdomF2M/ScanSubtractRadius $(arg cell_size) --OdomF2M/ScanMaxSize 15000 --Odom/ScanKeyFrameThr 0.5 --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0 --Icp/PointToPlaneK 10 --Icp/MaxTranslation 1]
• launch/demo_robot_mapping.launch
  • • rviz [default: false]
    • rtabmap_viz [default: true]
    • localization [default: false]
    • rtabmap_args [default: ]
    • rtabmap_args [default: --delete_db_on_start]
• launch/demo_turtlebot_tango.launch
  • • database_path [default: rtabmap.db]
    • tango_odometry [default: true]
    • localization [default: false]
    • rtabmap_viz [default: false]
    • args [default: ]
    • args [default: --delete_db_on_start]
    • wait_for_transform [default: 0.2]
• launch/demo_multi-session_mapping.launch
  • • rviz [default: false]
    • rtabmap_viz [default: true]
    • rtabmap_args [default: ]

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