RTABMAP-ROS point cloud not created (robot mapping use case)

Hi,

I'm quite new to RTABMAP-ROS, and trying to use it on our turtlebot. Using Ros Hydro, rtabmap_ros version 0.8.12 (from binaries).

I noticed when the Kinect is connected to my workstation, the RGB-D SLAM works fine, as in this rosbag:

https://drive.google.com/file/d/0B0g4LHNnIDN0djhZVlhqNlk0a1U/view?usp=sharing

Whereas, with the usual connection to the netbook on the turtlebot, only the 2D map is produced and no point cloud. Rosbag for identical setting for this:

https://drive.google.com/file/d/0B0g4LHNnIDN0NGhLSE5wdnhENzA/view?usp=sharing

I'm using the demorobotmapping.launch (modified to subscribe to compressed image topics).

What's missing? Is it related to TF?

Thanks!

Asked by Dev99 on 2015-12-16 10:11:14 UTC

Comments

Answers

With the second rosbag, the depth image is blank. You can see it in RVIZ by subscribing to /camera/depth_registered/image_raw topic: image description

In comparison, here with the first rosbag: image description

Did you launch openni/freenect on turtlebot with "depth_registration:=true" parameter?

Mathieu

Asked by matlabbe on 2015-12-17 12:36:05 UTC

Comments

Thanks for your reply, I spent the day and realized this also. Tried some fix with Openni, apparently faced by several other users as well. And thanks for your awesome work!

Asked by Dev99 on 2015-12-17 16:03:08 UTC

Figured it out, depth registered image was incorrect (dark), problem already addressed in http://answers.ros.org/question/53706/registered-depth-image-is-black/

Tried the fix suggested in that link, which led the kinect not being detected(also faced by another user in that link). So, tried the suggestion in http://answers.ros.org/question/60562/ubuntu-12042-and-openni_launch-not-detecting-kinect-after-update/.

It's working for the moment, the depth registered image is correct, and the point cloud is created. However, the working of the kinect right now is not entirely reliable, often the camera topics are not available (will post status messages soon).

Asked by Dev99 on 2015-12-17 16:01:44 UTC