rtabmap won't start
I am having problems where my rtabmap won't start using frames: I am using this launch file.
<launch>
<!-- Kinect cloud to laser scan -->
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
<remap from="image" to="/camera/depth_registered/image_raw"/>
<remap from="camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="scan" to="/base_scan"/>
<param name="range_max" type="double" value="4"/>
</node>
<!-- SLAM -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters -->
<param name="RGBD/ProximityBySpace" type="string" value="false"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- 1=ICP -->
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="4.0"/>
<param name="Vis/MinInliers" type="string" value="5"/>
<param name="Vis/InlierDistance" type="string" value="0.05"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.5"/>
<param name="Vis/MaxFeatures" type="string" value="500"/>
<param name="Mem/ImagePreDecimation" type="string" value="2"/>
<param name="Mem/ImagePostDecimation" type="string" value="2"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="OdomF2M/MaxSize" type="string" value="1000"/>
<param name="Odom/ImageDecimation" type="string" value="2"/>
<param name="delete_db_on_start" type="string" value="true"/>
<param name="Mem/IncrementalMemory" type="string" value="true"/>
</node>
</group>
</launch>
So nothing happens after rtabmap 0.11.8 started... I am able to try and get the map from my other pc but the map is completely empty
Asked by gijsje170 on 2016-11-16 05:26:33 UTC
Comments
Do you launch any other launch files (e.g., freenect_launch)? Is
/base_controller/odom
published?Asked by matlabbe on 2016-11-16 14:03:10 UTC