Use RTAB-Map with ORB_SLAM2 in ROS

edit

Hi everyone,

I'm trying to launch RTAB-MAP with ORB-SLAM2 in ROS too. The compilation with ORB-SLAM2 went well, I can launch it with the standalone app, and then I followed your answer, Mathieu, by adding these lines in my launch file. However, I get the following error when RTAB-MAP pops up on screen :

OdometryORBSLAM2.cpp:874::computeTransform() Invalid camera model!

And indeed, no Camera Parameters pass through the launch file, and I don't know how to pass it through ROS.

I also recompiled the rtabmap-ros workspace with ORB-SLAM2.

Standalone : rtabmap --Rtabmap/DetectionRate 2 --ORB/Gpu True --Odom/Strategy 5 --OdomORBSLAM2/VocPath /home/thib/ORB_SLAM2/Vocabulary/ORBvoc.txt

Camera Parameters: 
- fx: 614.703
- fy: 614.971
- cx: 322.49
- cy: 246.067
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 30
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Launch file :

<launch>

  <!-- Multi-cameras demo with 3 D435 -->

  <!-- Choose visualization -->
  <arg name="rviz"       default="false" />
  <arg name="rtabmapviz" default="true" /> 

  <!-- Enable HW Sync via RS2 API -->
  <!-- <arg name="hw_sync" default="false"/>
  <group if="$(arg hw_sync)">
    <include file="/home/thib/realsenseTests_ws/src/hw_sync/launch/hw_sync.launch" />
  </group> -->

  <!-- Cameras -->
  <include file="$(find realsense2_camera)/launch/rs_rgbd.launch">
    <arg name="camera" value="camera1" />
    <arg name="serial_no" value="829212071075" />
  </include>

  <include file="$(find realsense2_camera)/launch/rs_rgbd.launch">
    <arg name="camera" value="camera2" />
    <arg name="serial_no" value="828112072892" />
  </include>

  <include file="$(find realsense2_camera)/launch/rs_rgbd.launch">
    <arg name="camera" value="camera3" />
    <arg name="serial_no" value="828112072458" />
  </include>

  <!-- Frames: Cameras are placed on the Intel x6 RS mounting support -->
  <!-- Use quaternions for static TF, corresponding on mounting on Intel x6 RS mounting support -->
  <node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf"
      args="0.0
            0.0 
            0.0 
            0.707 
            0.0 
            0.0 
            0.707 
            /base_link 
            /camera1_link 
            100" /> 
  <node pkg="tf" type="static_transform_publisher" name="base_to_camera2_tf"
      args="0.0 
            0.0 
            0.0 
            0.612 
            0.354 
            0.354 
            0.612 
            /base_link 
            /camera2_link 
            100" />
  <node pkg="tf" type="static_transform_publisher" name="base_to_camera3_tf"
      args="0.0 
            0.0 
            0.0 
            0.354 
            0.612 
            0.612 
            0.354 
            /base_link 
            /camera3_link 
            100" />

   <!-- sync rgb/depth images per camera -->
  <group ns="camera1">
    <node pkg="nodelet" type="nodelet" name="nodelet_manager1" args="manager"/>
    <node pkg="nodelet" type="nodelet" name="rgbd_sync1" args="load rtabmap_ros/rgbd_sync nodelet_manager1">
      <remap from="rgb/image"       to="color/image_rect_color"/>
      <remap from="depth/image"     to="aligned_depth_to_color/image_raw"/>
      <remap from="rgb/camera_info" to="color/camera_info"/>
      <param name="approx"          value="false"/>
    </node>
  </group>

  <group ns="camera2">
    <node pkg="nodelet" type="nodelet" name="nodelet_manager2" args="manager"/>
    <node pkg="nodelet" type="nodelet" name="rgbd_sync2" args="load rtabmap_ros/rgbd_sync nodelet_manager2">
      <remap from="rgb/image"       to="color/image_rect_color"/>
      <remap from="depth/image"     to="aligned_depth_to_color/image_raw"/>
      <remap from="rgb/camera_info" to="color/camera_info"/>
      <param name="approx"          value="false"/>
    </node>
  </group>

  <group ns="camera3">
    <node pkg="nodelet" type="nodelet" name="nodelet_manager3" args="manager"/>
    <node pkg="nodelet" type="nodelet" name="rgbd_sync3" args="load rtabmap_ros/rgbd_sync nodelet_manager3">
      <remap from="rgb/image ...