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I am using 2 cameras, astra and kinect for mapping. Could someone tell how to run rtabmap for both the cameras simultaneously ?

asked 2018-07-07 03:31:11 -0600

Aniket_Gujarathi gravatar image

updated 2018-07-07 03:31:43 -0600

I need maps of both the cameras simultaneously. As soon as I run rtabmap in another terminal, the first process dies.

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answered 2018-07-07 03:46:45 -0600

elite_up gravatar image
  1. Open launch file named rtabmap.launch
  2. change <arg name="namespace" default="rtabmap1"/> <arg name="database_path" default="~/.ros/rtabmap1.db"/>
  3. now copy rtabmap.launch file in the same path and rename it as rtabmap2.launch and agin edit it
  4. change <arg name="namespace" default="rtabmap2"/> <arg name="database_path" default="~/.ros/rtabmap2.db"/>
  5. now launch 2 different launch file or

add namespace:=rtabmap2 and databse_path:= ~/.ros/rtabmap2.db at the end of launch command

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Thank u...... This worked for me

Aniket_Gujarathi gravatar image Aniket_Gujarathi  ( 2018-07-07 11:08:51 -0600 )edit

@Aniket_Gujarathi if this solved your problem then please click the checkmark to mark the answer as correct.

jayess gravatar image jayess  ( 2018-07-07 11:36:35 -0600 )edit

You may need to set map_frame_id (default map) and vo_frame_id (default odom) if you don't want the two rtabmap nodes and the two visual odometry nodes to publish on the same TF frames. frame_id should be also set differently between the cameras.

matlabbe gravatar image matlabbe  ( 2018-07-07 20:24:46 -0600 )edit

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Asked: 2018-07-07 03:31:11 -0600

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Last updated: Jul 07 '18