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no data from rtabmap_ros rtabmap

asked 2015-02-19 15:04:48 -0600

ocularb0b gravatar image

I'm trying to get rtabmap_ros working and it looks like it should be, but I get no map, points or anything from the rtabmap node. I'm using a xtion camera(working can see PointCloud2), tf from the bot(also working), and depthimage_to_laserscan(working can see scan in rviz). When I look in rqt_graph everything looks to be hooked up correctly. I'm running Indigo on ubuntu 14.10. rtabmap section of my .launch :

<group ns="rtabmap"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start --udebug">

      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_laserScan" type="bool" value="true"/>

      <remap from="odom" to="/odom_tf"/>
      <remap from="scan" to="/kinect_scan"/>

      <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

      <param name="queue_size" type="int" value="10"/>

      <!-- RTAB-Map's parameters -->
      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
      <param name="Kp/MaxDepth" type="string" value="4.0"/>
      <param name="LccIcp/Type" type="string" value="2"/>
      <param name="LccIcp2/CorrespondenceRatio" type="string" value="0.5"/>
      <param name="LccBow/MinInliers" type="string" value="3"/>
      <param name="LccBow/InlierDistance" type="string" value="0.05"/>
      <param name="RGBD/AngularUpdate" type="string" value="0.01"/>
      <param name="RGBD/LinearUpdate" type="string" value="0.01"/>
      <param name="Rtabmap/TimeThr" type="string" value="700"/>
      <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
</node>
    <node name="map_assembler" pkg="rtabmap_ros" type="map_assembler" output="screen">
        <param name="occupancy_grid" type="bool" value="true"/>
    </node>

</group>

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answered 2015-02-20 06:50:19 -0600

matlabbe gravatar image

The launch looks good. If all inputs are correctly connected, the "/rtabmap/mapData" msg should be published at 1 Hz:

$ rostopic hz /rtabmap/mapData

Are you setting "depth_registration:=true" when launching OpenNI2? Make sure all inputs are published:

 $ rostopic hz /odom_tf
 $ rostopic hz /kinect_scan
 $ rostopic hz /camera/rgb/image_rect_color
 $ rostopic hz /camera/depth_registered/image_raw
 $ rostopic hz /camera/rgb/camera_info

Otherwise, can you post the terminal output with "--udebug" as argument?

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Thanks for the reply. I've found where I went wrong and need to fix my tf tree.

ocularb0b gravatar imageocularb0b ( 2015-02-21 04:20:59 -0600 )edit

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Asked: 2015-02-19 15:04:48 -0600

Seen: 550 times

Last updated: Feb 20 '15