working with stereo camera and rtabmap for 3d mapping
So I am using rtabmap and a ZED stereo for this project based o, 3D mapping. I have the following launch file, I tried to play with with it but no mapping :
<launch>
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<arg name="local_bundle" default="true" />
<arg name="stereo_sync" default="false" />
<param name="use_sim_time" type="bool" value="True"/>
<!-- Just to uncompress images for stereo_image_rect -->
<node name="republish_left" type="republish" pkg="image_transport" args="compressed in:=/left/image_raw_color out:=/stereo_camera/left/image_raw_throttle_relay" />
<node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/right/image_raw_color raw out:=/stereo_camera/right/image_raw_throttle_relay" />
<!-- Run the ROS package stereo_image_proc for image rectification -->
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw_color" to="/stereo_camera/left/image_raw_throttle_relay"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/image_raw_color" to="/stereo_camera/right/image_raw_throttle_relay"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<param name="disparity_range" value="128"/>
</node>
<node if="$(arg stereo_sync)" pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync">
<remap from="left/image_rect_color" to="left/image_rect_color"/>
<remap from="right/image_rect_color" to="right/image_rect"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
<group ns="rtabmap">
<!-- Stereo Odometry -->
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="rgbd_image_raw" to="/stereo_camera/rgbd_image"/>
<remap from="odom" to="/stereo_odometry"/>
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<param name="frame_id" type="string" value="zed_camera_center"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame=to=Frame -->
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
<param name="Vis/MaxDepth" type="string" value="0"/>
<param name="Odom/GuessMotion" type="string" value="true"/>
<param name="Vis/MinInliers" type="string" value="10"/>
<param unless="$(arg local_bundle)" name="OdomF2M/BundleAdjustment" type="string" value="0"/>
<param name="OdomF2M/MaxSize" type="string" value="1000"/>
<param name="GFTT/MinDistance" type="string" value="10"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
</node>
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="zed_camera_center"/>
<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="rgbd_image_raw" to="/stereo_camera/rgbd_image"/>
<remap from="odom" to="/stereo_odometry"/>
<param name="queue_size" type="int" value="30"/>
<param name="map_negative_poses_ignored" type="bool" value="true"/>
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Grid/DepthDecimation" type="string" value="4"/>
<param name ...