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rtabmap with stereovision

asked 2017-09-26 04:33:45 -0600

zahra.zahra gravatar image

i work on rtabmap with stereovision. i am new in ros and rtabmap and i am studying tutorials of rtabmap. i install rtabmap_ros package from ($ sudo apt-get install ros-indigo-rtabmap-ros) and when run the example of Hand-held Stereo Mapping for ros (Process a directory of stereo images in ROS) the stereo_20Hz.launch file can not run and error is:

... logging to /home/zahra/.ros/log/709c28dc-a145-11e7-8f93-c8600022c399/roslaunch-zahra-9839.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

unused args [rgbd] for include of [/opt/ros/indigo/share/rtabmap_ros/launch/rtabmap.launch] The traceback for the exception was written to the log file

please help me!

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Can you post the log file it refers to. it should be located in the .ros/logs folder in your home directory

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2017-09-26 08:50:37 -0600 )edit

Also, can you describe your setup more? What stereo camera are you using? Can you get the stereo camera to just publish images correctly? If you are using a rosbag, can you get that to play through the images correctly on its own?

psammut gravatar image psammut  ( 2017-09-26 11:36:55 -0600 )edit

i am using zip file from rtabmap site that is content left and right images ( i am following tutorials of rtabmap and useing file from this site.

zahra.zahra gravatar image zahra.zahra  ( 2017-09-26 22:42:19 -0600 )edit

i don't know whats happen the rtabmap ros work correctly for rgbdmap but don't work for stereomapping!

zahra.zahra gravatar image zahra.zahra  ( 2017-09-26 22:44:40 -0600 )edit

how can see log file?

zahra.zahra gravatar image zahra.zahra  ( 2017-09-26 23:07:15 -0600 )edit

i access to log file from terminal with this command: zahra@zahra:~$ cd ~/.ros/log zahra@zahra:~/.ros/log$ ls

is it correct?

zahra.zahra gravatar image zahra.zahra  ( 2017-09-26 23:28:15 -0600 )edit

Is it this tutorial?

matlabbe gravatar image matlabbe  ( 2017-09-26 23:38:07 -0600 )edit

hello matlabbe yes that is!

zahra.zahra gravatar image zahra.zahra  ( 2017-09-27 02:24:16 -0600 )edit

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answered 2017-09-27 13:39:22 -0600

matlabbe gravatar image

The rgbd argument error is a bug in the released launch files for Indigo (this is fixed in recent versions). I updated the launch file of the tutorial to be compatible with current Indigo release.

You may have better results with Kinetic/Lunar versions though, here is an example of results: image description



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thanks Mathieu. my problem is solved! also i have one question. how can small 3dmap for show all scene? my 3dmap is very large and don't show all scene.

zahra.zahra gravatar image zahra.zahra  ( 2017-09-28 01:53:55 -0600 )edit

Do you mean the 3D map viewport? You can zoom in/out with the mouse wheel.

matlabbe gravatar image matlabbe  ( 2017-09-28 19:38:50 -0600 )edit

thanks Mathieu.

zahra.zahra gravatar image zahra.zahra  ( 2017-09-29 01:48:51 -0600 )edit

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Asked: 2017-09-26 04:33:45 -0600

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Last updated: Sep 27 '17