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[rtabmap_ros] Cannot mapping by RVIZ

asked 2017-04-11 07:04:11 -0500

simon.xm.lee gravatar image

updated 2017-04-11 13:32:56 -0500

matlabbe gravatar image

I try to use hand-held kinectv2 to record map and follow the steps in tutorials(RGB-D Hand-Held Mapping With a Kinect). Then I can record map by following steps in rtabmapviz, but fail in rviz. There is an error in "Global Status". It show "Fix Frame [map] is not exist". How do I setup?

Below are my steps:

$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true

$ rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false
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answered 2017-04-11 13:35:11 -0500

matlabbe gravatar image

Following the tutorial for kinect2_bridge, you should use this for the third step:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info rviz:=true rtabmapviz:=false

cheers

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It works. Many thanks.

simon.xm.lee gravatar image simon.xm.lee  ( 2017-04-11 20:49:18 -0500 )edit

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Asked: 2017-04-11 07:04:11 -0500

Seen: 241 times

Last updated: Apr 11 '17