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Hi Avner,

When enabling icp_odometry with rtabmap.launch, you should set scan_topic (LaserScan) or scan_cloud_topic (PointCloud2) argument, otherwise no /rtabmap/odom topic will be published. If you have only a depth image in the bag, convert it to a PointCloud2 (see point_cloud_xyz). You may have some warnings telling that icp_odometry or rtabmap nodes didn't receive any topics since 5 sec. You would have to set subscribe_scan ou subscribe_scan_cloud argument to true to add the scans to map and to visualize them.

If the point cloud is coming from a RGB-D camera, I don't really recommend the use of icp_odometry. It is meant to be used with a lidar (2d or 3d). Remember that with ICP, some geometry should always be seen by the camera or it will drift very fast and lose tracking. You may want to add some Icp/**** parameters to rtabmap_args argument to avoid processing very dense clouds.

<arg name="rtabmap_args"  value="--delete_db_on_start --Icp/VoxelSize 0.05" />

To see all Icp/ parameters, do:

$ rtabmap --params | grep Icp/