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rosbag record /tf /camera/depth/image_rect /camera/depth/camera_info /camera/rgb/camera_info /camera/rgb/image_rect_color

Don't forget to use these topics in your launchfile for rgbdslam (and set config/topic_points to an empty string), e.g.:

<launch>
  <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="log"> 
    <!-- Input data settings-->
    <param name="config/topic_image_mono"              value="/camera/rgb/image_rect_color"/> <!--could also be color -->
    <param name="config/topic_image_depth"             value="/camera/depth/image_rect"/>
    <param name="config/topic_points"                  value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->

    <param name="config/feature_detector_type"         value="SURF"/>
    <param name="config/feature_extractor_type"        value="SURF"/>
    <param name="config/max_keypoints"                 value="600"/>
  </node>
</launch>