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how to install rtab map in ROS indigo

asked 2016-01-11 02:33:29 -0500

David John gravatar image

Hi all, I am using ROS indigo.I want to create a 3D map of my lab using hand held kinect and I read that rtab map is the best option.But my ROS did not have rtab map package.Someone please help me to install rtab map.

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answered 2016-01-11 10:24:24 -0500

matlabbe gravatar image

updated 2016-01-14 07:38:50 -0500

Binaries:

sudo apt-get install ros-indigo-rtabmap ros-indigo-rtabmap-ros

If you want to build the latest version from source, visit the rtabmap_ros's GitHub page (see installation instructions at the bottom of the page).

For an example of hand-held mapping with a Kinect, checkout this tutorial.

EDIT (from questions in comments)

You can export the cloud in PLY, PCD or OBJ (See File->"Export clouds" in main window). These formats can be loaded in MeshLab, where you can export them in X3D or WRL.

If you don't use "--delete_db_on_start" when launching the launch file, the rtabmap.db file contains all sessions. If there are no loop closures between the sessions, you will only see the latest one when starting a new session. If you want one session per database, you have to manually copy ~/.ros/rtabmap.db between the sessions. Note that for hand-held mapping with RTAB-Map, you don't even need ROS, and the standalone version is easier to use to create/save multiple databases (just type $ rtabmap to use the standalone).

To view all sessions contained in a database, you can open it with $ rtabmap-databaseViewer ~/.ros/rtabmap.db. Then show the Graph view panel and set from which node the graph is optimized. Depending on which node the map is optimized, a different scanning session may appear. You can then generate the point cloud associated with the current graph (File->export).

cheers

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Comments

thank you sir I used this command and installed rtabmap.Before doing 3D mapping with real kinect I tried it with turtlebot package.I used the commands 1.roslaunch turtlebot_bringup minimal.launch 2.roslaunch rtabmap_ros demo_turtlebot_mapping.launch but it says no openni2 devices connected.

David John gravatar image David John  ( 2016-01-12 03:16:35 -0500 )edit

Look at section 5 of this tutorial. If Turtlebot has a Kinect, you should do $ export TURTLEBOT_3D_SENSOR=kinect before launching the nodes.

matlabbe gravatar image matlabbe  ( 2016-01-12 07:07:55 -0500 )edit

Thank you sir I started working with real kinect.And I got 3D map using rtabmap.I got a folder rtabmap.db in ~/.ros folder.But this folder is saving my current scan data.I am losing my previous scan data on every scan.Sir I also want to know is it possible to convert this .db file to .wrl format.

David John gravatar image David John  ( 2016-01-14 03:59:55 -0500 )edit

Updated the answer for these questions.

matlabbe gravatar image matlabbe  ( 2016-01-14 07:39:31 -0500 )edit

Thank you sir...It worked for me.I want to convert the pointcloud to laser scan and i used freenect to collect the kinect data.Then I used the command rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw.But it doesnt work.There were no data under the topic /scan.

David John gravatar image David John  ( 2016-01-19 03:22:40 -0500 )edit

if you started freenect.launch with depth_registered:=true, you should use /camera/depth_registered/image_raw

matlabbe gravatar image matlabbe  ( 2016-01-21 15:18:28 -0500 )edit

I did it...it's working..thank you.

David John gravatar image David John  ( 2016-01-21 23:06:03 -0500 )edit

sir..I used hecto_slam to build a 2D map from kinect data.I used the command roslaunch hector_slam_launch tutorial.launchand getting "[ WARN] [1453709644.419967908]: No transform between frames /map and scanmatcher_frame available after 20.001889 seconds of waiting. This warning only".Plz help me

David John gravatar image David John  ( 2016-01-25 02:33:54 -0500 )edit

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Asked: 2016-01-11 02:33:29 -0500

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Last updated: Jan 14 '16