RTabMap gives only the last scene not the global scene

asked 2018-12-07 00:00:20 -0500

NAGALLA DEEPAK gravatar image

Through my previous question here, I am able to run RTabMap without errors. But, all I see in RViz is the last scene not the global scene i.e. I could only see what camera see and the when I move to some other location old data is not visible any further. Any suggestion is appreciated. Thanks in advance and feel free to comment for any further info needed from my side.

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"when I move to some other location old data is not visible any further": looks like the mapping node is not working, do you have a status log info of rtabmap at each second in terminal? Are there warnings?

matlabbe gravatar image matlabbe  ( 2018-12-21 14:44:05 -0500 )edit

No, there are no warnings. Everything is fine in terminal.

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2019-01-03 04:41:20 -0500 )edit

Do you have a log info of rtabmap printed at each second in terminal? like this:

[ INFO] rtabmap (1): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0456s, Maps update=0.0029s pub=0.0002s (local map=1, WM=1)
[ INFO] rtabmap (2): Rate=1.00s, Limit=0.000s, RTAB-Map=0.043s, Maps update=0.0029s pub=..
matlabbe gravatar image matlabbe  ( 2019-01-03 15:57:48 -0500 )edit

Sorry for replying late. Yes my terminal looks like that and it is not showing any warnings.

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2019-01-18 10:05:09 -0500 )edit

Which displays are added to RVIZ? You may try to add the rtabmap_ros/MapCloud display and subscribe to /rtabmap/mapData topic.

matlabbe gravatar image matlabbe  ( 2019-01-18 14:50:23 -0500 )edit
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