Migration from 0.10 to 0.11

[matlabbe]

The 0.11 branch is now merged to master. Some parameters have been changed, deleted or renamed. Please look for warnings/errors on the console when launching rtabmap as they will tell you if some parameters should be modified in your launch file or not.

Note that you can still have the description of the parameters with:

$ rosrun rtabmap_ros rtabmap --params
or 
$ rosrun rtabmap_ros rgbd_odometry --params

EDIT
The following arguments from rgbd_mapping.launch and stereo_mapping.launch were removed:

  <arg name="strategy"            default="0" />       <!-- Strategy: Frame-to-Map 1=Frame-to-Frame -->
  <arg name="feature"             default="6" />       <!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK -->
  <arg name="estimation"          default="0" />       <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
  <arg name="nn"                  default="3" />       <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE (SIFT, SURF), 2=FLANN_LSH, 3=BRUTEFORCE (ORB/FREAK/BRIEF/BRISK) -->
  <arg name="max_depth"           default="0" />       <!-- Maximum features depth (m) -->
  <arg name="min_inliers"         default="20" />      <!-- Minimum visual correspondences to accept a transformation (m) -->
  <arg name="inlier_distance"     default="0.1" />     <!-- RANSAC maximum inliers distance (m) -->
  <arg name="local_map"           default="1000" />    <!-- Local map size: number of unique features to keep track -->
  <arg name="variance_inliers"    default="true"/>    <!-- Variance from inverse of inliers count -->

Instead of:

$ roslaunch rgbd_mapping.launch estimation:=0 nn:=3 max_depth:=0 min_inliers:=20 inlier_distance=0.1 local_map:=1000 variance_inliers:=true

Use:

$ roslaunch rgbd_mapping.launch rtabmap_args:="--Vis/EstimationType 0 --Vis/CorNNType 3 --Vis/MaxDepth 0 --Vis/MinInliers 20 --Vis/InlierDistance 0.1 --OdomF2M/MaxSize 1000 --Reg/VarianceFromInliersCount true"

All RTAB-Map's parameters can be set the same way.

cheers

[matlabbe]

Everything is on 0.11 now, obsolete