rtabmap map data (get_map)

asked 2016-03-11 16:07:21 -0500

Randa
3 ●4 ●5 ●6

updated 2016-03-11 16:08:23 -0500

Hi,

I have problem in loading the generated map using RTAB map, I already used rtabmap/get_map service but I don't know how to proceed and export the ply mesh using the command line or rviz. I want to do that using the command line since rtabmapviz crashes when I load the cloud and then export the mesh since my map is really too big.

when I call get_map service in command line, I get a lot of information displayed (I loaded them to a file), snap shots of this information is available in the following link : images link

could this information be used to generate a mesh file (.ply), or is there another way other than rtabmapviz to generate a mesh file ??

Note: I use ubuntu 14.04, ros indigo and I preformed the mapping using rtabmap-ros package and writing a launch file to setup rtab to my robot.

Thanks

answered 2016-03-13 18:09:16 -0500

matlabbe

6409 ●11 ●96 ●80

Hi,

The rtabmap_ros/GetMap service returns map data as a graph, not a point cloud. You can however subscribe to /rtabmap/cloud_map topic (which is a sensor_msgs/PointCloud2) to get the point cloud. With pcl_ros, you can save to PCD format (and convert to PLY):

 rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map
 pcl_pcd2ply input.pcd output.ply

If you connect after mapping, call the service rtabmap_ros/PublishMap so that rtabmap will regenerate the map's cloud and send it back on the cloud_map topic. Parameters for cloud generation by rtabmap can be found on the ROS wiki with prefix cloud_ (e.g., cloud_voxel_size).

Note that in rtabmapviz you can decrease the resolution of the point clouds (increase voxel size) to save memory when exporting.

cheers

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Thanks for your suggestion, I already tried to subscribe to cloud_map and publish the cloud but nothing happened.. as if the cloud_map is empty although I can see the reconstructed map. maybe because the map is so big, I'll try to decrease the resolution and increase voxel size.

Randa ( 2016-03-20 07:55:27 -0500 )edit

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