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Is it possible to use rtabmap_ros with only scan data?

asked 2019-04-25 05:04:21 -0500

updated 2019-04-30 09:46:10 -0500

gvdhoorn gravatar image

I would like to use rtabmap_ros package to map an indoor environment. However, my robot has only odometry and laserscan data. Can I use, rtabmap_ros as a SLAM algorithm for my case? When I check Setup RTAB_MAP on your Robot, I couldn't see any configuration which uses odom + scan information. It seems I have to have a kinect sensor to use this package, but I would like to be sure.

I have already tried hector_slam, gmapping and cartographer_ros. I am trying hopelessly to find another possible SLAM algorithm which could give better performance for my case.

You can see my other question

Thank you for your help!


Edit: @matlabbe , Thank you very much for your answer. I directly used your launch file with the provided realoguz5.bag file as you mentioned. I also removed map frame from the bagfile and tried with that bagfile, . However, I couldn't see any map in either Rviz or Rtabmap_viz.You can see the terminal output of test.launch below. Could you help me further to solve this issue? Thank you very much!

    SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /rtabmap/rtabmap/RGBD/NeighborLinkRefining: True
 * /rtabmap/rtabmap/Reg/Force3DoF: True
 * /rtabmap/rtabmap/Reg/Strategy: 1
 * /rtabmap/rtabmap/frame_id: base_link
 * /rtabmap/rtabmap/odom_frame_id: odom
 * /rtabmap/rtabmap/odom_tf_angular_variance: 0.05
 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.01
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_rgb: False
 * /rtabmap/rtabmap/subscribe_scan: True
 * /rtabmap/rtabmap/wait_for_transform_duration: 1
 * /use_sim_time: True

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/rtabmap-1]: started with pid [11259]
process[rtabmap/rtabmapviz-2]: started with pid [11260]
[ INFO] [1556631047.098153064]: Starting node...
[ INFO] [1556631047.152156112]: Initializing nodelet with 8 worker threads.
[ INFO] [1556631047.194421357]: Starting node...
[ INFO] [1556631047.305024760]: rtabmapviz: Using configuration from "/home/alperen/.ros/rtabmapGUI.ini"
[ INFO] [1556631048.460661263]: Reading parameters from the ROS server...
[ INFO] [1556631048.609303406]: Parameters read = 0
[ INFO] [1556631049.355704547]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1556631049.355738290]: /rtabmap/rtabmapviz: rgbd_cameras = 1
[ INFO] [1556631049.355749637]: /rtabmap/rtabmapviz: approx_sync   = true
[ INFO] [1556631049.358946567]: 
/rtabmap/rtabmapviz subscribed to:
   /rtabmap/odom
[ INFO] [1556631049.359086913]: rtabmapviz started.
[ INFO] [1556631072.496810848, 1555961484.412100329]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1556631072.496924727, 1555961484.412100329]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1556631072.496986324, 1555961484.412100329]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1556631072.497057702, 1555961484.412100329]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1556631072.497116107, 1555961484.412100329]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1556631072.497174002, 1555961484.412100329]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1556631072.497228337, 1555961484.412100329]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1556631072.497289089, 1555961484.412100329]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1556631072.506124736, 1555961484.422174375]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1556631072.548256477, 1555961484.462396979]: rtabmap: frame_id      = base_link
[ INFO] [1556631072.548287631, 1555961484.462396979]: rtabmap: odom_frame_id = odom
[ INFO] [1556631072.548303426, 1555961484.462396979]: rtabmap: map_frame_id  = map
[ INFO] [1556631072.548327794, 1555961484.462396979]: rtabmap: tf_delay      = 0.050000
[ INFO] [1556631072.548360511, 1555961484.462396979]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1556631072.548484635, 1555961484.462396979]: rtabmap: odom_sensor_sync   = true
[ INFO] [1556631072.966363444, 1555961484.884980407]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[ INFO ...
(more)
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Note that it is preferred that you edit your question instead of adding new info in a new answer. You are using rtabmap 0.17.6, my example works only with 0.19. You have to build rtabmap/rtabmap_ros from source. I edited my answer with that info.

matlabbe gravatar image matlabbe  ( 2019-04-30 09:46:06 -0500 )edit

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answered 2019-04-26 19:57:55 -0500

matlabbe gravatar image

updated 2019-04-30 09:47:43 -0500

Hi,

Yes, we can use rtabmap without a camera, but global loop closure detection will be disabled (local proximity detection still work though, so small loop closures can be detected). EDIT rtabmap 0.19 minimum required. Currently, rtabmap binaries are at 0.17.6, we should build rtabmap/rtabmap_ros from source.

Here is an example following mostly the first setup example but without subscribing to camera:

<launch>
  <param name="use_sim_time" value="true"/> <!-- only with rosbag -->

  <group ns="rtabmap">
    <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
      <param name="subscribe_scan"   value="true"/>
      <param name="subscribe_rgb"    value="false"/>
      <param name="subscribe_depth"  value="false"/>
      <param name="frame_id"         value="base_link"/>
      <param name="odom_frame_id"    value="odom"/>
      <param name="wait_for_transform_duration"  value="1"/>
      <param name="odom_tf_linear_variance"  value="0.01"/>
      <param name="odom_tf_angular_variance" value="0.05"/>

      <!-- RTAB-Map parameters -->
      <param name="Reg/Strategy"              value="1"/>    <!-- 1 for lidar -->
      <param name="Reg/Force3DoF"             value="true"/> <!-- 2d slam -->
      <param name="RGBD/NeighborLinkRefining" value="true"/> <!-- odometry correction with scans -->

      <remap from="scan"    to="/scan"/>
    </node>

    <!-- just for visualization -->
    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen"/>
  </group>
</launch>

Example based on the rosbag of your other post:

$ roslaunch test.launch
$ rosbag play --clock -s 20 realoguz5.bag

To avoid warnings about two map frames published (one from the bag and the other one from rtabmap), we can remove the map frame from the bag using this script. Note also that in general wait_for_transform_duration would be lower, but this bag seems to have some TF and topic stamps synchronization latency.

image description

cheers,
Mathieu

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Thanks a lot!

samialperen gravatar image samialperen  ( 2019-05-02 00:40:23 -0500 )edit

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Asked: 2019-04-25 05:04:21 -0500

Seen: 804 times

Last updated: Apr 30 '19