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Found this thread: http://official-rtab-map-forum.67519.x6.nabble.com/Proj-map-min-obstacles-height-td2866.html

Try these settings I tested them in my sim. RTABMap should be publishing to "/rtabmap/proj_map":

<param name="Grid/FromDepth"             type="bool" value="true"/>
<param name="Grid/MaxGroundHeight"       type="string" value="0.2"/>
<param name="Grid/MaxObstacleHeight"     type="string" value="2"/>
<param name="Grid/NormalsSegmentation"   type="string" value="false"/>

Here's a the relevant part of my launch file for reference:

<rosparam command="load" file="$(find frc_robot)/config/slam.yaml"/>

<group ns="rtabmap">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
  <remap from="rgb/image"       to="/$(arg camera_frame)/rgb/image_raw"/>
  <remap from="depth/image"     to="/$(arg camera_frame)/depth/image_raw"/>
  <remap from="rgb/camera_info" to="/$(arg camera_frame)/rgb/camera_info"/>
  <remap from="rgbd_image"      to="rgbd_image"/> <!-- Output -->
</node>

<!-- SLAM -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
  <remap from="scan" to="/scan"/>

Ignore these params below. I'm using Hector_Slam for localization.
  <param name="odom_frame_id"            type="string" value="map"/>
  <param name="odom_tf_linear_variance"  type="double" value="0.0005"/>
  <param name="odom_tf_angular_variance"    type="double" value="0.0005"/>

</node>
</group>

And my YAML file:

rtabmap:
  rtabmap:
    frame_id: base_link
    map_frame_id: map
    odom_frame_id: odom

    subscribe_depth: false
    subscribe_rgb: false
    subscribe_rgbd: true
    subscribe_scan: true

    publish_tf: false

    Reg/Strategy: 2
    Reg/Force3DoF: true
    RGBD/ProximityBySpace: false

    RGBD/ProximityPathMaxNeighbors: 10
    Grid/Scan2dUnknownSpaceFilled: true

    Grid/FromDepth: true
    Grid/MaxGroundHeight: 0.2
    Grid/MaxObstacleHeight: 2.0
    Grid/NormalsSegmentation: false
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Found this thread: http://official-rtab-map-forum.67519.x6.nabble.com/Proj-map-min-obstacles-height-td2866.htmlhttp://official-rtab-map-forum.206.s1.nabble.com/Proj-map-min-obstacles-height-td2866.html

Try these settings I tested them in my sim. RTABMap should be publishing to "/rtabmap/proj_map":

<param name="Grid/FromDepth"             type="bool" value="true"/>
<param name="Grid/MaxGroundHeight"       type="string" value="0.2"/>
<param name="Grid/MaxObstacleHeight"     type="string" value="2"/>
<param name="Grid/NormalsSegmentation"   type="string" value="false"/>

Here's a the relevant part of my launch file for reference:

<rosparam command="load" file="$(find frc_robot)/config/slam.yaml"/>

<group ns="rtabmap">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
  <remap from="rgb/image"       to="/$(arg camera_frame)/rgb/image_raw"/>
  <remap from="depth/image"     to="/$(arg camera_frame)/depth/image_raw"/>
  <remap from="rgb/camera_info" to="/$(arg camera_frame)/rgb/camera_info"/>
  <remap from="rgbd_image"      to="rgbd_image"/> <!-- Output -->
</node>

<!-- SLAM -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
  <remap from="scan" to="/scan"/>

Ignore these params below. I'm using Hector_Slam for localization.
  <param name="odom_frame_id"            type="string" value="map"/>
  <param name="odom_tf_linear_variance"  type="double" value="0.0005"/>
  <param name="odom_tf_angular_variance"    type="double" value="0.0005"/>

</node>
</group>

And my YAML file:

rtabmap:
  rtabmap:
    frame_id: base_link
    map_frame_id: map
    odom_frame_id: odom

    subscribe_depth: false
    subscribe_rgb: false
    subscribe_rgbd: true
    subscribe_scan: true

    publish_tf: false

    Reg/Strategy: 2
    Reg/Force3DoF: true
    RGBD/ProximityBySpace: false

    RGBD/ProximityPathMaxNeighbors: 10
    Grid/Scan2dUnknownSpaceFilled: true

    Grid/FromDepth: true
    Grid/MaxGroundHeight: 0.2
    Grid/MaxObstacleHeight: 2.0
    Grid/NormalsSegmentation: false