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Can I build instant maps from kinect

asked 2018-01-14 04:40:52 -0600

NAGALLA DEEPAK gravatar image

updated 2018-01-14 22:59:24 -0600

Hi all

ROS is really a great stranger to me.

I am using Xbox360, ROS Kinetic, Ubuntu16.04 LTS

I am doing a project in which the robot should produce the map as it goes through an unknown environment. Is it possible to do so. As of now I only know the method of using .bag files i.e., hector_slam but I have a problem there also. Any way I have posted a question regarding that already.

Can anyone suggest me a way how to do the mapping instantly only using kinect. I mean I can't provide /tf data from the robot. But, I want to get the map without any thing like bag file.

Sorry for poor English. Hope you all understand the question.



CMake Error at rtabmap_ros/CMakeLists.txt:21 (find_package): By not providing "FindRTABMap.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "RTABMap", but CMake did not find one.

Could not find a package configuration file provided by "RTABMap" (requested version 0.14.0) with any of the following names:


Add the installation prefix of "RTABMap" to CMAKE_PREFIX_PATH or set "RTABMap_DIR" to a directory containing one of the above files. If "RTABMap" provides a separate development package or SDK, be sure it has been installed.

Thank you in advance....

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You only build packages from source if you really need to in my opinion! Since there are binary packages available for this you can install it with a single line as it says at the top of the installation guide. Keep it simple.

sudo apt-get install ros-kinetic-rtabmap-ros
PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-01-15 04:39:42 -0600 )edit

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answered 2018-01-14 04:44:36 -0600

updated 2018-01-14 06:08:12 -0600

There are two well developed ROS systems for doing exactly what you want. RTAB-Map is the one we prefer in our lab, but the alternative rgbslam is also very good and depending on your exact use case may be a better solution.

Both of these systems are designed specifically for RGB-D sensors such as the Kinect, and have fairly good setup guides.

Hope this helps.

Update: You're trying to do 2D mapping with a 3D sensor, how is the robot moving? If it's driving over a flat floor and will not tilt, drive up ramps etc then you can extract a 2D slice from the kinect point cloud and convert it to a (mock) laser scan. If you robot will be driving in a 3D fasion then 2D mapping is not appropriate and you'll have to build a 3D map.

I think the documentation of rgbdslam is not up-to date. We've made it work on kinetic without any problems.

Out of interest why is a 3D map not suitable to your needs?

Update: Theoretically 3D mapping is more complicated, but since the software has already been made for you, and you're using a 3D sensor it will be easier for you to implement 3D than converting your sensor to 2D.

You can find the ROS installation instructions to RTAB map here and there are good set of tutorials, including this one here which describes how to do mapping with several sensors including the kinect you're working with.

Hope this gets you started.

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Thanks for your response, I want to do 2D_mapping. Moreover rgbslam you stated is for future and indigo. But I am using Kinetic.

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2018-01-14 04:48:48 -0600 )edit

I thought 3D mapping is more complex than 2D. So I opted for 2D. Could you explain me how you did 3D mapping using kinect. I mean steps to install RTAB and any further information regarding this is welcome

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2018-01-14 05:04:21 -0600 )edit

please help me with the installation. I am getting this error while doing catkin_make. Please see the question for update about these errors

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2018-01-14 22:53:48 -0600 )edit

If you still want to get rtabmap built from source, follow carefully the steps here (in particular 0-2-3). rtabmap and rtabmap_ros should be cloned from the same branch name to be compatible.

matlabbe gravatar image matlabbe  ( 2018-01-15 11:17:02 -0600 )edit

Hi! Are there any other options that would be worth trying out for 3D mapping and autonomous navigation using RGB-D sensors like Kinect, Astra, PrimeSense? What about using KinFu within ROS? Thanks.

Dox gravatar image Dox  ( 2018-03-27 07:09:04 -0600 )edit

I have not been so deep into 3D mapping. But I gave it a try. I tried RGB-D slam with kinect and it worked great. But I think there is some distortion in the map and we have to adjust some parameters. I have read that there are some issues with Kinfu here.

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2018-03-27 11:15:30 -0600 )edit

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Asked: 2018-01-14 04:40:52 -0600

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Last updated: Jan 14 '18