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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.
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
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.
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.
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.
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
Asked: 2016-01-11 02:33:29 -0500
Seen: 1,836 times
Last updated: Jan 14 '16
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