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It is possible to map from a rosbag containing only image topics. If we break down to only minimal info from this launch file, we could have something like this with the topics you specified:

  <launch>
  <param name="use_sim_time" type="bool" value="True"/>

  <arg name="pi/2" value="1.5707963267948966" />
  <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
  <node pkg="tf" type="static_transform_publisher" name="camera_base_link"
        args="$(arg optical_rotate) base_link camera_link 100" />  

  <group ns="rtabmap">

    <!-- Odometry -->
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
      <remap from="rgb/image"       to="/camera/rgb/image_color"/>
      <remap from="depth/image"     to="/camera/depth/image"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
      <param name="frame_id" type="string" value="base_link"/>
    </node>

    <!-- SLAM -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
      <param name="subscribe_depth" type="bool" value="true"/>  
      <param name="frame_id" type="string" value="base_link"/>

      <remap from="rgb/image" to="/camera/rgb/image_color"/>
      <remap from="depth/image" to="/camera/depth/image"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
      <remap from="odom" to="odom"/>
    </node>

  </group>
  </launch>

Replace camera_link by the frame contained in the /camera/rgb/image_color topic. Then play the bag:

$ roslaunch example_above.launch
$ rosbag play --clock recorded.bag