Stereo mapping use an external Odometry
I am challenging the stereo mapping using the ZED Camera. http://wiki.ros.org/rtabmap_ros/Tutor...
The hand-held mapping, was successful. (Use Visual Odometry)
However, when I use an external Odometry (Odometry by my robot), mapping failed. http://wiki.ros.org/rtabmap_ros/Tutor...
rtabmap version is 0.11.7-indigo
.
launch command is as follows: I've used.
roslaunch rtabmap_ros stereo_mapping.launch stereo_namespace:=/camera right_image_topic:=/camera/right/image_rect_color frame_id:=base_link visual_odometry:=false odom_topic:=/myOdometry rtabmap_args:="--Vis/CorFlowMaxLevel 5 --Stereo/MaxDisparity 200" approximate_sync:=true rviz:=true rtabmapviz:=false
As it follows output results of the launch command I used.(It does not proceed to the first.)
[ INFO] [1470359443.524334573]: Update RTAB-Map parameter "Stereo/MaxDisparity"="200" from arguments
[ INFO] [1470359443.524388849]: Update RTAB-Map parameter "Vis/CorFlowMaxLevel"="5" from arguments
[ INFO] [1470359443.685933381]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1470359443.685983418]: rtabmap: Using database from "/home/fukuta/.ros/rtabmap.db".
[ INFO] [1470359445.966125352]: rtabmap: Database version = "0.11.7".
[ INFO] [1470359446.342636926]: Registering Stereo Exact callback...
[ INFO] [1470359446.343230456]:
/rtabmap/rtabmap subscribed to:
/camera/left/image_rect_color_relay,
/camera/right/image_rect_color_relay,
/camera/left/camera_info,
/camera/right/camera_info,
/myOdometry
[ INFO] [1470359446.343568287]: rtabmap 0.11.7 started...
/myOdometry
is here.
VisualOdometry of rtabmap is publishing so there is a difference between /rtabmap/odom
does not appear to me.
header:
seq: 12762
stamp:
secs: 1470359835
nsecs: 702744122
frame_id: odom
child_frame_id: base_link
pose:
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [1e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
I hope you can help me! Thank you!
Edit: now try 0.11.8. but I failed mapping with a next messages.
[ERROR] [1471423061.039552705]: Failed to load nodelet [/rtabmap/stereo_odometry] of type [rtabmap_ros/stereo_odometry] even after refreshing the cache: MultiLibraryClassLoader: Could not create object of class type rtabmap_ros::StereoOdometry as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[ERROR] [1471423061.039601785]: The error before refreshing the cache was: MultiLibraryClassLoader: Could not create object of ...