No image_rect after remapping and rtabmap not publishing map data
Hello everybody, I use ROS Hydro for several week now and I need some help.
I am trying to build a map with stereovision. To do that, I am working with stereo_image_proc and rtabmap_ros.
I used this tutorial ( http://wiki.ros.org/rtabmap_ros/Tutor... ) to help me.
The problem is that, I don't have any image from my /artemis/navCam/left/image_rect topic. But it was working before I used remap tag.
<!--Point cloud and disparity image from stereovision-->
<node
name="stereo_image_proc"
pkg="stereo_image_proc"
type="stereo_image_proc">
<env name="ROS_NAMESPACE" value="/artemis/navCam" />
<remap from="left/image_raw" to="left/image_raw_throttle_relay"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle_relay"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
<param name="disparity_range" value="128"/>
</node>
<node
name="stereo_image_proc2"
pkg="stereo_image_proc"
type="stereo_image_proc">
<env name="ROS_NAMESPACE" value="/artemis/odoCam" />
</node>
The image_rect topics are working with the odoCam part. Is there something special with the remap tag ?
The other problem is that I can't see maps in Rviz.(I supposed it happens because of the previous error) I have a message like : no tf existing from [] to [artemisBody]
See a part of my roslaunch file below:
<!--Point cloud and disparity image from stereovision-->
<node
name="stereo_image_proc"
pkg="stereo_image_proc"
type="stereo_image_proc">
<env name="ROS_NAMESPACE" value="/artemis/navCam" />
<remap from="left/image_raw" to="left/image_raw_throttle_relay"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle_relay"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
<param name="disparity_range" value="128"/>
</node>
<node
name="stereo_image_proc2"
pkg="stereo_image_proc"
type="stereo_image_proc">
<env name="ROS_NAMESPACE" value="/artemis/odoCam" />
</node>
<!-- Just to uncompress images for stereo_image_rect -->
<node name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg camera)/left/image_raw raw out:=$(arg camera)/left/image_raw_throttle_relay"/> <node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg camera)/right/image_raw raw out:=$(arg camera)/right/image_raw_throttle_relay"/>
<!-- STEREO ODOMETRY -->
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen"> <remap from="left/image_rect" to="$(arg camera)/left/image_rect"/> <remap from="right/image_rect" to="$(arg camera)/right/image_rect"/> <remap from="left/camera_info" to="$(arg camera)/left/camera_info_throttle"/> <remap from="right/camera_info" to="$(arg camera)/right/camera_info_throttle"/> <remap from="odom" to="$(arg camera)/odometry"/>
<param name="frame_id" type="string" value="artemisBody"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="Odom/InlierDistance" type="string" value="0.1"/>
<param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="GFTT/MaxCorners" type="string" value="500"/>
<param name="GFTT/MinDistance" type="string" value="5"/>
</node>
<group ns="rtabmap">
<!-- Visual SLAM -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="delete_db_on_start">
<param name="frame_id" type="string" value="artemisBody"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
<remap from="left/image_rect" to="$(arg camera)/left/image_rect_color"/>
<remap from="right/image_rect" to="$(arg camera)/right/image_rect_color"/>
<remap from="left/camera_info ...
