Robotics StackExchange | Archived questions

data_recorder node missing from rtabmap_ros package

Hello,

I recently installed rtabmap_ros and rtabmap on Ubuntu 14.04, using apt-get:

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

I would like to record stereo images to a database, as is done in this sample launch file. However, I noticed that the node "data_recorder" is missing.

rosrun rtabmap_ros data_recorder
[rosrun] Couldn't find executable named data_recorder below /opt/ros/indigo/share/rtabmap_ros

The only nodes available from rtabmap_ros are the following:

rosrun rtabmap_ros 
camera              grid_map_assembler  map_optimizer       rtabmap             stereo_odometry     
data_player         map_assembler       rgbd_odometry       rtabmapviz

Am I missing a library to build this node? I did not receive any error or warning when downloading the packages from apt-get and my system is up-to-date.

Alternatively, is there another package that can build a database of stereo images to use with rtabmap odometry viewer tool?

Best Regards,

Audren

Asked by Audren Cloitre on 2016-01-23 05:51:25 UTC

Comments

rtabmap_ros/CMakeLists.txt defines a bunch of executables, but data_recorder is not one of them. Perhaps report?

Asked by gvdhoorn on 2016-01-23 07:44:46 UTC

Thanks a lot! You confirmed the problem was not related to my installation. I found a work-around and posted it in the answer section. I will also report the issue so that the wiki page can be updated.

Asked by Audren Cloitre on 2016-01-23 08:48:36 UTC

Answers

As gvdhoorn pointed out, the executable data_recorder is not listed in the CMakeLists file and therefore, is not built into the package.

A way around is to adapt the sample launch file data_recorder.launch to your needs. I tested it on my system and it works perfectly.

Asked by Audren Cloitre on 2016-01-23 08:46:22 UTC

Comments

For info, issue is reported here: https://github.com/introlab/rtabmap_ros/issues/44

Asked by matlabbe on 2016-01-23 11:31:15 UTC